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  {
48  {
49  public:
52  {
53  }
54 
55  void sampleUniform(State *state) override;
56  void sampleUniformNear(State *state, const State *near, const double distance) override;
57  void sampleGaussian(State *state, const State *mean, const double stdDev) override;
58  };
59 
68  {
69  public:
71  class StateType : public State
72  {
73  public:
75  int value;
76  };
77 
80  DiscreteStateSpace(int lowerBound, int upperBound)
81  : StateSpace(), lowerBound_(lowerBound), upperBound_(upperBound)
82  {
83  setName("Discrete" + getName());
84  type_ = STATE_SPACE_DISCRETE;
85  }
86 
87  ~DiscreteStateSpace() override = default;
88 
89  bool isDiscrete() const override;
90 
91  unsigned int getDimension() const override;
92 
93  double getMaximumExtent() const override;
94 
95  double getMeasure() const override;
96 
97  void enforceBounds(State *state) const override;
98 
99  bool satisfiesBounds(const State *state) const override;
100 
101  unsigned int getSerializationLength() const override;
102 
103  void serialize(void *serialization, const State *state) const override;
104 
105  void deserialize(State *state, const void *serialization) const override;
106 
107  void copyState(State *destination, const State *source) const override;
108 
109  double distance(const State *state1, const State *state2) const override;
110 
111  bool equalStates(const State *state1, const State *state2) const override;
112 
113  void interpolate(const State *from, const State *to, const double t, State *state) const override;
114 
115  StateSamplerPtr allocDefaultStateSampler() const override;
116 
117  State *allocState() const override;
118 
119  void freeState(State *state) const override;
120 
121  void printState(const State *state, std::ostream &out) const override;
122 
123  void printSettings(std::ostream &out) const override;
124 
125  void registerProjections() override;
126 
128  unsigned int getStateCount() const
129  {
130  return upperBound_ - lowerBound_ + 1;
131  }
132 
134  int getLowerBound() const
135  {
136  return lowerBound_;
137  }
138 
140  int getUpperBound() const
141  {
142  return upperBound_;
143  }
144 
147  void setBounds(int lowerBound, int upperBound)
148  {
149  lowerBound_ = lowerBound;
150  upperBound_ = upperBound;
151  }
152 
153  void setup() override;
154 
155  protected:
158 
161  };
162  }
163 }
164 
165 #endif
int getLowerBound() const
Returns the lowest possible state.
void sampleGaussian(State *state, const State *mean, const double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev)...
ompl::base::DiscreteStateSpace
int lowerBound_
The lowest integer state.
The definition of a discrete state.
A shared pointer wrapper for ompl::base::StateSampler.
void sampleUniformNear(State *state, const State *near, const double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
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:70
Definition of an abstract state.
Definition: State.h:49
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:64
int upperBound_
The highest integer state.
void sampleUniform(State *state) override
Sample a state.
int value
The current state - an int in range [lowerBound, upperBound].