ControlSpace.h

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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