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:
            // non-copyable
            ControlSpace(const ControlSpace&) = delete;
            ControlSpace& operator=(const ControlSpace&) = delete;

            ControlSpace(const 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, const 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:

            typedef CompoundControl ControlType;

            CompoundControlSpace(const base::StateSpacePtr &stateSpace) : ControlSpace(stateSpace), componentCount_(0), locked_(false)
            {
            }

            virtual ~CompoundControlSpace()
            {
            }

            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(const unsigned int index) const;

            const ControlSpacePtr& getSubspace(const std::string &name) const;

            virtual unsigned int getDimension() const;

            virtual Control* allocControl() const;

            virtual void freeControl(Control *control) const;

            virtual void copyControl(Control *destination, const Control *source) const;

            virtual bool equalControls(const Control *control1, const Control *control2) const;

            virtual void nullControl(Control *control) const;

            virtual ControlSamplerPtr allocDefaultControlSampler() const;

            virtual double* getValueAddressAtIndex(Control *control, const unsigned int index) const;

            virtual void printControl(const Control *control, std::ostream &out = std::cout) 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;

            virtual bool isCompound() const;

            void lock();

        protected:

            std::vector<ControlSpacePtr>    components_;

            unsigned int                    componentCount_;

            bool                            locked_;
        };
    }
}

#endif