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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
42namespace ompl
43{
44 namespace base
45 {
47 class DiscreteStateSampler : public StateSampler
48 {
49 public:
51 DiscreteStateSampler(const StateSpace *space) : StateSampler(space)
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
67 class DiscreteStateSpace : public StateSpace
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
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
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.
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.
const std::string & getName() const
Get the name of the state space.
Definition of an abstract state.
Definition State.h:50
This namespace contains sampling based planning routines shared by both planning under geometric cons...
@ STATE_SPACE_DISCRETE
ompl::base::DiscreteStateSpace
Main namespace. Contains everything in this library.