37 #ifndef OMPL_BASE_SPACES_DISCRETE_STATE_SPACE_
38 #define OMPL_BASE_SPACES_DISCRETE_STATE_SPACE_
40 #include "ompl/base/StateSpace.h"
105 virtual void serialize(
void *serialization,
const State *state)
const;
107 virtual void deserialize(State *state,
const void *serialization)
const;
109 virtual void copyState(State *destination,
const State *source)
const;
111 virtual double distance(
const State *state1,
const State *state2)
const;
113 virtual bool equalStates(
const State *state1,
const State *state2)
const;
115 virtual void interpolate(
const State *from,
const State *to,
const double t, State *state)
const;
121 virtual void freeState(State *state)
const;
123 virtual void printState(
const State *state, std::ostream &out)
const;
154 virtual void setup(
void);
void setName(const std::string &name)
Set the name of the state space.
virtual State * allocState(void) const
Allocate a state that can store a point in the described space.
int type_
A type assigned for this state space.
ompl::base::DiscreteStateSpace
virtual StateSamplerPtr allocDefaultStateSampler(void) const
Allocate an instance of the default uniform state sampler for this space.
int lowerBound_
The lowest integer state.
virtual unsigned int getDimension(void) const
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
virtual void sampleUniform(State *state)
Sample a state.
virtual void copyState(State *destination, const State *source) const
Copy a state to another. The memory of source and destination should NOT overlap. ...
The definition of a discrete state.
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev) ...
virtual bool equalStates(const State *state1, const State *state2) const
Checks whether two states are equal.
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
virtual double distance(const State *state1, const State *state2) const
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
virtual void enforceBounds(State *state) const
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
virtual void registerProjections(void)
Register the projections for this state space. Usually, this is at least the default projection...
virtual void printState(const State *state, std::ostream &out) const
Print a state to a stream.
virtual void setup(void)
Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them and call their setup() functions. It is safe to call this function multiple times. At a subsequent call, projections that have been previously user configured are not re-instantiated, but their setup() method is still called.
virtual void interpolate(const State *from, const State *to, const double t, State *state) const
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...
virtual bool isDiscrete(void) const
Check if the set of states is discrete.
void setBounds(int lowerBound, int upperBound)
Set the bounds for the states in this space (the states will be in the set [lowerBound, upperBound].
int getLowerBound(void) const
Returns the lowest possible state.
const std::string & getName(void) const
Get the name of the state space.
State space sampler for discrete states.
virtual unsigned int getSerializationLength(void) const
Get the number of chars in the serialization of a state in this space.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
virtual bool satisfiesBounds(const State *state) const
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
Definition of an abstract state.
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
int getUpperBound(void) 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]...
virtual double getMaximumExtent(void) const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
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.
int upperBound_
The highest integer state.
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
int value
The current state - an int in range [lowerBound, upperBound].
virtual void freeState(State *state) const
Free the memory of the allocated state.
unsigned int getStateCount(void) const
Returns the number of states possible.