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
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
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
int getUpperBound() const
Returns the highest possible state.
Definition of an abstract state.
Definition: State.h:50
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.
int getLowerBound() const
Returns the lowest possible state.
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].
unsigned int getStateCount() const
Returns the number of states possible.