Adapts a kinematic cspace (given to the constructor) to a control space. More...

#include <ControlSpace.h>

Inheritance diagram for KinematicControlSpace:

Public Member Functions
	KinematicControlSpace (const std::shared_ptr< CSpace > &base, Real maxNeighborhoodRadius=0.1)

virtual std::string	VariableName (int i)
	Returns an identifier for the i'th control variable.

virtual std::shared_ptr< CSet >	GetControlSet (const Config &x)

virtual InterpolatorPtr	Simulate (const State &x0, const ControlInput &u)

virtual void	Successor (const State &x0, const ControlInput &u, State &x1)

virtual Math::VectorFieldFunction *	SuccessorNumeric ()

virtual bool	ReverseControl (const State &x0, const State &x1, ControlInput &u)

Public Member Functions inherited from ControlSpace
virtual std::shared_ptr< CSet >	GetControlSet (const State &x)

virtual std::shared_ptr< SteeringFunction >	GetSteeringFunction ()
	Returns this space's steering function, if available.

virtual void	SampleControl (const State &x, ControlInput &u)

virtual bool	IsValidControl (const State &x, const ControlInput &u)

Public Attributes
std::shared_ptr< CSpace >	base

Real	maxNeighborhoodRadius

Public Attributes inherited from ReversibleControlSpace
std::shared_ptr< ControlSpace >	reverseControlSpace

Public Attributes inherited from ControlSpace
std::shared_ptr< CSet >	myControlSet
	Dynamically overridable default control set (Note: state independent)

std::shared_ptr< SteeringFunction >	mySteeringFunction
	Dynamically overridable default steering function.

Detailed Description

Adapts a kinematic cspace (given to the constructor) to a control space.

The state is the same as in the "base" cspace, and the control is a straight-line motion to another state. Controls are drawn in a neighborhood around a given state with distance maxNeighborhoodRadius.

Member Function Documentation

bool KinematicControlSpace::ReverseControl	(	const State &	x0,
		const State &	x1,
		ControlInput &	u
	)

virtual

If the system is reversible and x1 = f(x0,u), changes u so that x0 = f(x1,u) and returns true. If no such u exists, return false.

Reimplemented from ReversibleControlSpace.

InterpolatorPtr KinematicControlSpace::Simulate	(	const State &	x0,
		const ControlInput &	u
	)

virtual

Executes the simulation function f(x0,u) and records its trace in p. The trace is an interpolator between x0 and the successor state

Implements ControlSpace.

void KinematicControlSpace::Successor	(	const State &	x0,
		const ControlInput &	u,
		State &	x1
	)

virtual

Executes the simulation function x1 = f(x0,u). By default, uses the result from Simulate().

Reimplemented from ControlSpace.

Math::VectorFieldFunction * KinematicControlSpace::SuccessorNumeric ( )

virtual

If possible, express Successor as a VectorFieldFunction on the vector (x,u) (stacked)

Reimplemented from ControlSpace.

The documentation for this class was generated from the following files:

ControlSpace.h
ControlSpace.cpp

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation