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, double distance) override;
57  void sampleGaussian(State *state, const State *mean, 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  : lowerBound_(lowerBound), upperBound_(upperBound)
82  {
83  setName("Discrete" + getName());
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, 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
State space sampler for discrete states.
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
DiscreteStateSampler(const StateSpace *space)
Constructor.
void sampleUniform(State *state) override
Sample a state.
The definition of a discrete state.
int value
The current state - an int in range [lowerBound, upperBound].
A space representing discrete states; i.e. there are a small number of discrete states the system can...
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation....
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
DiscreteStateSpace(int lowerBound, int upperBound)
Construct a discrete space in wich states can take values in the set [lowerBound, upperBound].
double distance(const State *state1, const State *state2) const override
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
void interpolate(const State *from, const State *to, double t, State *state) const override
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state....
int getUpperBound() const
Returns the highest possible state.
unsigned int getStateCount() const
Returns the number of states possible.
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
int upperBound_
The highest integer state.
int lowerBound_
The lowest integer state.
void setBounds(int lowerBound, int upperBound)
Set the bounds for the states in this space (the states will be in the set [lowerBound,...
bool satisfiesBounds(const State *state) const override
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
void freeState(State *state) const override
Free the memory of the allocated state.
State * allocState() const override
Allocate a state that can store a point in the described space.
bool isDiscrete() const override
Check if the set of states is discrete.
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
int getLowerBound() const
Returns the lowest possible state.
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
void enforceBounds(State *state) const override
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
A shared pointer wrapper for ompl::base::StateSampler.
Abstract definition of a state space sampler.
Definition: StateSampler.h:65
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:71
int type_
A type assigned for this state space.
Definition: StateSpace.h:531
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:201
const std::string & getName() const
Get the name of the state space.
Definition: StateSpace.cpp:196
Definition of an abstract state.
Definition: State.h:50
@ STATE_SPACE_DISCRETE
ompl::base::DiscreteStateSpace
Main namespace. Contains everything in this library.
Definition: AppBase.h:22