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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
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:192
virtual State * allocState(void) const
Allocate a state that can store a point in the described space.
int type_
A type assigned for this state space.
Definition: StateSpace.h:497
ompl::base::DiscreteStateSpace
virtual StateSamplerPtr allocDefaultStateSampler(void) const
Allocate an instance of the default uniform state sampler for this space.
int lowerBound_
The lowest integer state.
virtual unsigned int getDimension(void) const
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
virtual void sampleUniform(State *state)
Sample a state.
virtual void copyState(State *destination, const State *source) const
Copy a state to another. The memory of source and destination should NOT overlap. ...
The definition of a discrete state.
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 bool equalStates(const State *state1, const State *state2) const
Checks whether two states are equal.
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
virtual double distance(const State *state1, const State *state2) const
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
virtual void enforceBounds(State *state) const
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
virtual void registerProjections(void)
Register the projections for this state space. Usually, this is at least the default projection...
virtual void printState(const State *state, std::ostream &out) const
Print a state to a stream.
virtual void setup(void)
Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them and call their setup() functions. It is safe to call this function multiple times. At a subsequent call, projections that have been previously user configured are not re-instantiated, but their setup() method is still called.
virtual void interpolate(const State *from, const State *to, const double t, State *state) const
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...
virtual bool isDiscrete(void) const
Check if the set of states is discrete.
void setBounds(int lowerBound, int upperBound)
Set the bounds for the states in this space (the states will be in the set [lowerBound, upperBound].
int getLowerBound(void) const
Returns the lowest possible state.
const std::string & getName(void) const
Get the name of the state space.
Definition: StateSpace.cpp:187
State space sampler for discrete states.
virtual unsigned int getSerializationLength(void) const
Get the number of chars in the serialization of a state in this space.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
virtual bool satisfiesBounds(const State *state) const
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
Definition of an abstract state.
Definition: State.h:50
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
int getUpperBound(void) 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]...
virtual double getMaximumExtent(void) const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
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.
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
int value
The current state - an int in range [lowerBound, upperBound].
virtual void freeState(State *state) const
Free the memory of the allocated state.
unsigned int getStateCount(void) const
Returns the number of states possible.