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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());
87  }
88 
89  virtual ~DiscreteStateSpace(void)
90  {
91  }
92 
93  virtual bool isDiscrete(void) const;
94 
95  virtual unsigned int getDimension(void) const;
96 
97  virtual double getMaximumExtent(void) const;
98 
99  virtual void enforceBounds(State *state) const;
100 
101  virtual bool satisfiesBounds(const State *state) const;
102 
103  virtual unsigned int getSerializationLength(void) const;
104 
105  virtual void serialize(void *serialization, const State *state) const;
106 
107  virtual void deserialize(State *state, const void *serialization) const;
108 
109  virtual void copyState(State *destination, const State *source) const;
110 
111  virtual double distance(const State *state1, const State *state2) const;
112 
113  virtual bool equalStates(const State *state1, const State *state2) const;
114 
115  virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
116 
117  virtual StateSamplerPtr allocDefaultStateSampler(void) const;
118 
119  virtual State* allocState(void) const;
120 
121  virtual void freeState(State *state) const;
122 
123  virtual void printState(const State *state, std::ostream &out) const;
124 
125  virtual void printSettings(std::ostream &out) const;
126 
127  virtual void registerProjections(void);
128 
130  unsigned int getStateCount(void) const
131  {
132  return upperBound_ - lowerBound_ + 1;
133  }
134 
136  int getLowerBound(void) const
137  {
138  return lowerBound_;
139  }
140 
142  int getUpperBound(void) const
143  {
144  return upperBound_;
145  }
146 
148  void setBounds(int lowerBound, int upperBound)
149  {
150  lowerBound_ = lowerBound;
151  upperBound_ = upperBound;
152  }
153 
154  virtual void setup(void);
155 
156  protected:
157 
160 
163  };
164  }
165 }
166 
167 #endif