DiscreteControlSpace.h
Abstract definition of a control sampler. Motion planners that need to sample controls will call func...
Definition: ControlSampler.h:70
int getUpperBound() const
Returns the highest possible control value.
Definition: DiscreteControlSpace.h:121
int getLowerBound() const
Returns the lowest possible control value.
Definition: DiscreteControlSpace.h:115
A boost shared pointer wrapper for ompl::base::StateSpace.
A boost shared pointer wrapper for ompl::control::ControlSampler.
A space representing discrete controls; i.e. there are a small number of discrete controls the system...
Definition: DiscreteControlSpace.h:64
virtual void sample(Control *control)
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
Definition: DiscreteControlSpace.cpp:40
DiscreteControlSpace(const base::StateSpacePtr &stateSpace, int lowerBound, int upperBound)
Construct a discrete space in wich controls can take values in the set [lowerBound, upperBound].
Definition: DiscreteControlSpace.h:78
The definition of a discrete control.
Definition: DiscreteControlSpace.h:69
unsigned int getControlCount() const
Returns the number of controls possible.
Definition: DiscreteControlSpace.h:109
int value
The current control - an int in range [lowerBound, upperBound].
Definition: DiscreteControlSpace.h:74
ompl::control::DiscreteControlSpace
Definition: ControlSpaceTypes.h:56
Control space sampler for discrete controls.
Definition: DiscreteControlSpace.h:48
A control space representing the space of applicable controls.
Definition: ControlSpace.h:66
void setBounds(int lowerBound, int upperBound)
Set the bounds for the states in this space (the states will be in the set [lowerBound, upperBound].
Definition: DiscreteControlSpace.h:127