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DiscreteStateSpace.cpp
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34
35/* Author: Elizabeth Fudge */
36
37#include "ompl/base/spaces/DiscreteStateSpace.h"
38#include "ompl/util/Exception.h"
39#include <limits>
40#include <cstdlib>
41
47
48void ompl::base::DiscreteStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
49{
50 const auto d = (int)floor(distance + 0.5);
51 state->as<DiscreteStateSpace::StateType>()->value = rng_.uniformInt(
53 space_->enforceBounds(state);
54}
55
56void ompl::base::DiscreteStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
57{
58 state->as<DiscreteStateSpace::StateType>()->value =
59 (int)floor(rng_.gaussian(mean->as<DiscreteStateSpace::StateType>()->value, stdDev) + 0.5);
60 space_->enforceBounds(state);
61}
62
64{
65 return true;
66}
67
69{
70 return 1;
71}
72
77
79{
80 return upperBound_ - lowerBound_ + 1.0;
81}
82
84{
85 if (state->as<StateType>()->value < lowerBound_)
86 state->as<StateType>()->value = lowerBound_;
87 else if (state->as<StateType>()->value > upperBound_)
88 state->as<StateType>()->value = upperBound_;
89}
90
92{
93 return state->as<StateType>()->value >= lowerBound_ && state->as<StateType>()->value <= upperBound_;
94}
95
96void ompl::base::DiscreteStateSpace::copyState(State *destination, const State *source) const
97{
98 destination->as<StateType>()->value = source->as<StateType>()->value;
99}
100
102{
103 return sizeof(int);
104}
105
106void ompl::base::DiscreteStateSpace::serialize(void *serialization, const State *state) const
107{
108 memcpy(serialization, &state->as<StateType>()->value, sizeof(int));
109}
110
111void ompl::base::DiscreteStateSpace::deserialize(State *state, const void *serialization) const
112{
113 memcpy(&state->as<StateType>()->value, serialization, sizeof(int));
114}
115
116double ompl::base::DiscreteStateSpace::distance(const State *state1, const State *state2) const
117{
118 return abs(state1->as<StateType>()->value - state2->as<StateType>()->value);
119}
120
121bool ompl::base::DiscreteStateSpace::equalStates(const State *state1, const State *state2) const
122{
123 return state1->as<StateType>()->value == state2->as<StateType>()->value;
124}
125
126void ompl::base::DiscreteStateSpace::interpolate(const State *from, const State *to, const double t, State *state) const
127{
128 state->as<StateType>()->value = (int)floor(from->as<StateType>()->value +
129 (to->as<StateType>()->value - from->as<StateType>()->value) * t + 0.5);
130}
131
133{
134 return std::make_shared<DiscreteStateSampler>(this);
135}
136
141
143{
144 delete static_cast<StateType *>(state);
145}
146
148{
149 class DiscreteDefaultProjection : public ProjectionEvaluator
150 {
151 public:
152 DiscreteDefaultProjection(const StateSpace *space) : ProjectionEvaluator(space)
153 {
154 }
155
156 unsigned int getDimension() const override
157 {
158 return 1;
159 }
160
161 void defaultCellSizes() override
162 {
163 bounds_.resize(1);
164 bounds_.low[0] = space_->as<DiscreteStateSpace>()->lowerBound_;
165 bounds_.high[0] = space_->as<DiscreteStateSpace>()->upperBound_;
166 cellSizes_.resize(1);
167 cellSizes_[0] = 1.0;
168 }
169
170 void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override
171 {
172 projection(0) = state->as<DiscreteStateSpace::StateType>()->value;
173 }
174 };
175
176 registerDefaultProjection(std::make_shared<DiscreteDefaultProjection>(this));
177}
178
180{
182 throw Exception("Lower bound cannot be larger than upper bound for a discrete space");
184}
185
186void ompl::base::DiscreteStateSpace::printState(const State *state, std::ostream &out) const
187{
188 out << "DiscreteState [";
189 if (state != nullptr)
190 out << state->as<StateType>()->value;
191 else
192 out << "nullptr";
193 out << ']' << std::endl;
194}
195
197{
198 out << "Discrete state space '" << getName() << "' with bounds [" << lowerBound_ << ", " << upperBound_ << "]"
199 << std::endl;
200}
The exception type for ompl.
Definition Exception.h:47
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.
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.
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.
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-...
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
RNG rng_
An instance of a random number generator.
const StateSpace * space_
The state space this sampler samples.
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation....
void registerDefaultProjection(const ProjectionEvaluatorPtr &projection)
Register the default projection for this state space.
const std::string & getName() const
Get the name of the state space.
Definition of an abstract state.
Definition State.h:50
const T * as() const
Cast this instance to a desired type.
Definition State.h:66