.. _program_listing_file_src_ompl_control_ControlSpace.h:

Program Listing for File ControlSpace.h
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_control_ControlSpace.h>` (``src/ompl/control/ControlSpace.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Ioan Sucan */
   
   #ifndef OMPL_CONTROL_CONTROL_SPACE_
   #define OMPL_CONTROL_CONTROL_SPACE_
   
   #include "ompl/base/StateSpace.h"
   #include "ompl/control/Control.h"
   #include "ompl/control/ControlSampler.h"
   #include "ompl/control/ControlSpaceTypes.h"
   #include "ompl/util/Console.h"
   #include "ompl/util/ClassForward.h"
   #include <boost/concept_check.hpp>
   #include <iostream>
   #include <vector>
   
   namespace ompl
   {
       namespace control
       {
   
           OMPL_CLASS_FORWARD(ControlSpace);
   
           class ControlSpace
           {
           public:
               using ControlType = ompl::control::Control;
   
               // non-copyable
               ControlSpace(const ControlSpace &) = delete;
               ControlSpace &operator=(const ControlSpace &) = delete;
   
               ControlSpace(base::StateSpacePtr stateSpace);
   
               virtual ~ControlSpace();
   
               template <class T>
               T *as()
               {
                   BOOST_CONCEPT_ASSERT((boost::Convertible<T *, ControlSpace *>));
   
                   return static_cast<T *>(this);
               }
   
               template <class T>
               const T *as() const
               {
                   BOOST_CONCEPT_ASSERT((boost::Convertible<T *, ControlSpace *>));
   
                   return static_cast<const T *>(this);
               }
   
               const std::string &getName() const;
   
               void setName(const std::string &name);
   
               int getType() const
               {
                   return type_;
               }
   
               const base::StateSpacePtr &getStateSpace() const
               {
                   return stateSpace_;
               }
   
               virtual unsigned int getDimension() const = 0;
   
               virtual Control *allocControl() const = 0;
   
               virtual void freeControl(Control *control) const = 0;
   
               virtual void copyControl(Control *destination, const Control *source) const = 0;
   
               virtual bool equalControls(const Control *control1, const Control *control2) const = 0;
   
               virtual void nullControl(Control *control) const = 0;
   
               virtual ControlSamplerPtr allocDefaultControlSampler() const = 0;
   
               virtual ControlSamplerPtr allocControlSampler() const;
   
               void setControlSamplerAllocator(const ControlSamplerAllocator &csa);
   
               void clearControlSamplerAllocator();
   
               virtual double *getValueAddressAtIndex(Control *control, unsigned int index) const;
   
               virtual void printControl(const Control *control, std::ostream &out) const;
   
               virtual void printSettings(std::ostream &out) const;
   
               virtual void setup();
   
               virtual unsigned int getSerializationLength() const;
   
               virtual void serialize(void *serialization, const Control *ctrl) const;
   
               virtual void deserialize(Control *ctrl, const void *serialization) const;
   
               void computeSignature(std::vector<int> &signature) const;
   
               virtual bool isCompound() const;
   
           protected:
               int type_;
   
               base::StateSpacePtr stateSpace_;
   
               ControlSamplerAllocator csa_;
   
           private:
               std::string name_;
           };
   
           class CompoundControlSpace : public ControlSpace
           {
           public:
               using ControlType = ompl::control::CompoundControl;
   
               CompoundControlSpace(const base::StateSpacePtr &stateSpace)
                 : ControlSpace(stateSpace), componentCount_(0), locked_(false)
               {
               }
   
               ~CompoundControlSpace() override = default;
   
               template <class T>
               T *as(const unsigned int index) const
               {
                   BOOST_CONCEPT_ASSERT((boost::Convertible<T *, ControlSpace *>));
   
                   return static_cast<T *>(getSubspace(index).get());
               }
   
               virtual void addSubspace(const ControlSpacePtr &component);
   
               unsigned int getSubspaceCount() const;
   
               const ControlSpacePtr &getSubspace(unsigned int index) const;
   
               const ControlSpacePtr &getSubspace(const std::string &name) const;
   
               unsigned int getDimension() const override;
   
               Control *allocControl() const override;
   
               void freeControl(Control *control) const override;
   
               void copyControl(Control *destination, const Control *source) const override;
   
               bool equalControls(const Control *control1, const Control *control2) const override;
   
               void nullControl(Control *control) const override;
   
               ControlSamplerPtr allocDefaultControlSampler() const override;
   
               double *getValueAddressAtIndex(Control *control, unsigned int index) const override;
   
               void printControl(const Control *control, std::ostream &out = std::cout) const override;
   
               void printSettings(std::ostream &out) const override;
   
               void setup() override;
   
               unsigned int getSerializationLength() const override;
   
               void serialize(void *serialization, const Control *ctrl) const override;
   
               void deserialize(Control *ctrl, const void *serialization) const override;
   
               bool isCompound() const override;
   
               void lock();
   
           protected:
               std::vector<ControlSpacePtr> components_;
   
               unsigned int componentCount_;
   
               bool locked_;
           };
       }
   }
   
   #endif