DiscreteStateSpace.h
131 }
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition: DiscreteStateSpace.cpp:73
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-...
Definition: DiscreteStateSpace.cpp:83
State * allocState() const override
Allocate a state that can store a point in the described space.
Definition: DiscreteStateSpace.cpp:137
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
Definition: DiscreteStateSpace.cpp:48
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
Definition: DiscreteStateSpace.cpp:196
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
Definition: DiscreteStateSpace.cpp:111
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
Definition: DiscreteStateSpace.cpp:78
int value
The current state - an int in range [lowerBound, upperBound].
Definition: DiscreteStateSpace.h:139
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
Definition: DiscreteStateSpace.cpp:96
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
Definition: DiscreteStateSpace.cpp:186
ompl::base::State StateType
Define the type of state allocated by this space.
Definition: StateSpace.h:142
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...
Definition: DiscreteStateSpace.cpp:91
unsigned int getStateCount() const
Returns the number of states possible.
Definition: DiscreteStateSpace.h:192
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
Definition: DiscreteStateSpace.cpp:147
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
Definition: DiscreteStateSpace.cpp:132
void setBounds(int lowerBound, int upperBound)
Set the bounds for the states in this space (the states will be in the set [lowerBound,...
Definition: DiscreteStateSpace.h:211
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
Definition: DiscreteStateSpace.cpp:121
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).
Definition: DiscreteStateSpace.cpp:56
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...
Definition: DiscreteStateSpace.cpp:116
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....
Definition: DiscreteStateSpace.cpp:126
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
Definition: DiscreteStateSpace.cpp:68
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
Definition: DiscreteStateSpace.cpp:106
A shared pointer wrapper for ompl::base::StateSampler.
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation....
Definition: DiscreteStateSpace.cpp:179
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
Definition: DiscreteStateSpace.cpp:101
void freeState(State *state) const override
Free the memory of the allocated state.
Definition: DiscreteStateSpace.cpp:142
bool isDiscrete() const override
Check if the set of states is discrete.
Definition: DiscreteStateSpace.cpp:63
DiscreteStateSpace(int lowerBound, int upperBound)
Construct a discrete space in wich states can take values in the set [lowerBound, upperBound].
Definition: DiscreteStateSpace.h:144