A control space that adapts a state-space control space to a state-cost space. The new state space is (x,c) where c is accumulated cost. More...

#include <CostSpace.h>

Inheritance diagram for StateCostControlSpace:

Public Member Functions
	StateCostControlSpace (const std::shared_ptr< ControlSpace > &base, const std::shared_ptr< ObjectiveFunctionalBase > &objective)

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

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

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

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

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

Public Member Functions inherited from ControlSpace
virtual Math::VectorFieldFunction *	SuccessorNumeric ()

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

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

Static Public Member Functions
static void	Split (const State &xc, State &x, Real &cost)

static void	SplitRef (const State &xc, State &x, Real &cost)

static void	Join (const State &x, Real cost, State &xc)

static Real	Cost (const State &xc)

Public Attributes
std::shared_ptr< ControlSpace >	base

std::shared_ptr< ObjectiveFunctionalBase >	objective

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

A control space that adapts a state-space control space to a state-cost space. The new state space is (x,c) where c is accumulated cost.

Member Function Documentation

std::shared_ptr< CSet > StateCostControlSpace::GetControlSet ( const State & x )

virtual

Returns this space's control set at the given state. By default returns myControlSet.

Reimplemented from ControlSpace.

InterpolatorPtr StateCostControlSpace::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

void StateCostControlSpace::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.

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