DiscreteStateSpace.h
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34 
35 /* Author: Elizabeth Fudge */
36 
37 #ifndef OMPL_BASE_SPACES_DISCRETE_STATE_SPACE_
38 #define OMPL_BASE_SPACES_DISCRETE_STATE_SPACE_
39 
40 #include "ompl/base/StateSpace.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
46 
49  {
50  public:
51 
54  {
55  }
56 
57  virtual void sampleUniform(State *state);
58  virtual void sampleUniformNear(State *state, const State *near, const double distance);
59  virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
60  };
61 
70  {
71  public:
72 
74  class StateType : public State
75  {
76  public:
77 
79  int value;
80  };
81 
83  DiscreteStateSpace(int lowerBound, int upperBound) : StateSpace(), lowerBound_(lowerBound), upperBound_(upperBound)
84  {
85  setName("Discrete" + getName());
86  type_ = STATE_SPACE_DISCRETE;
87  }
88 
89  virtual ~DiscreteStateSpace()
90  {
91  }
92 
93  virtual bool isDiscrete() const;
94 
95  virtual unsigned int getDimension() const;
96 
97  virtual double getMaximumExtent() const;
98 
99  virtual double getMeasure() const;
100 
101  virtual void enforceBounds(State *state) const;
102 
103  virtual bool satisfiesBounds(const State *state) const;
104 
105  virtual unsigned int getSerializationLength() const;
106 
107  virtual void serialize(void *serialization, const State *state) const;
108 
109  virtual void deserialize(State *state, const void *serialization) const;
110 
111  virtual void copyState(State *destination, const State *source) const;
112 
113  virtual double distance(const State *state1, const State *state2) const;
114 
115  virtual bool equalStates(const State *state1, const State *state2) const;
116 
117  virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
118 
119  virtual StateSamplerPtr allocDefaultStateSampler() const;
120 
121  virtual State* allocState() const;
122 
123  virtual void freeState(State *state) const;
124 
125  virtual void printState(const State *state, std::ostream &out) const;
126 
127  virtual void printSettings(std::ostream &out) const;
128 
129  virtual void registerProjections();
130 
132  unsigned int getStateCount() const
133  {
134  return upperBound_ - lowerBound_ + 1;
135  }
136 
138  int getLowerBound() const
139  {
140  return lowerBound_;
141  }
142 
144  int getUpperBound() const
145  {
146  return upperBound_;
147  }
148 
150  void setBounds(int lowerBound, int upperBound)
151  {
152  lowerBound_ = lowerBound;
153  upperBound_ = upperBound;
154  }
155 
156  virtual void setup();
157 
158  protected:
159 
162 
165  };
166  }
167 }
168 
169 #endif
int getLowerBound() const
Returns the lowest possible state.
ompl::base::DiscreteStateSpace
int lowerBound_
The lowest integer state.
virtual void sampleUniform(State *state)
Sample a state.
The definition of a discrete state.
A boost shared pointer wrapper for ompl::base::StateSampler.
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev) ...
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
Main namespace. Contains everything in this library.
Definition: Cost.h:42
unsigned int getStateCount() const
Returns the number of states possible.
void setBounds(int lowerBound, int upperBound)
Set the bounds for the states in this space (the states will be in the set [lowerBound, upperBound].
State space sampler for discrete states.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
Definition of an abstract state.
Definition: State.h:50
int getUpperBound() const
Returns the highest possible state.
DiscreteStateSpace(int lowerBound, int upperBound)
Construct a discrete space in wich states can take values in the set [lowerBound, upperBound]...
DiscreteStateSampler(const StateSpace *space)
Constructor.
A space representing discrete states; i.e. there are a small number of discrete states the system can...
Abstract definition of a state space sampler.
Definition: StateSampler.h:66
int upperBound_
The highest integer state.
int value
The current state - an int in range [lowerBound, upperBound].