37 #include "ompl/base/spaces/DiscreteStateSpace.h"
38 #include "ompl/util/Exception.h"
51 const int d = (int)floor(distance + 0.5);
55 space_->enforceBounds(state);
62 space_->enforceBounds(state);
77 return upperBound_ - lowerBound_;
155 virtual unsigned int getDimension(
void)
const
160 virtual void defaultCellSizes(
void)
165 cellSizes_.resize(1);
175 registerDefaultProjection(
ProjectionEvaluatorPtr(dynamic_cast<ProjectionEvaluator*>(
new DiscreteDefaultProjection(
this))));
180 if (lowerBound_ > upperBound_)
181 throw Exception(
"Lower bound cannot be larger than upper bound for a discrete space");
187 out <<
"DiscreteState [";
192 out <<
']' << std::endl;
197 out <<
"Discrete state space '" << getName() <<
"' with bounds [" << lowerBound_ <<
", " << upperBound_ <<
"]" << std::endl;
virtual State * allocState(void) const
Allocate a state that can store a point in the described space.
const StateSpace * space_
The state space this sampler samples.
virtual StateSamplerPtr allocDefaultStateSampler(void) const
Allocate an instance of the default uniform state sampler for this space.
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.
A boost shared pointer wrapper for ompl::base::StateSampler.
RNG rng_
An instance of a random number generator.
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...
const T * as(void) const
Cast this instance to a desired type.
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.
int getLowerBound(void) const
Returns the lowest possible state.
State space sampler for discrete states.
A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.
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.
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
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.
The exception type for ompl.
virtual double getMaximumExtent(void) const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
A space representing discrete states; i.e. there are a small number of discrete states the system can...
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 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 freeState(State *state) const
Free the memory of the allocated state.
int uniformInt(int lower_bound, int upper_bound)
Generate a random integer within given bounds: [lower_bound, upper_bound].
T * as(void)
Cast this instance to a desired type.
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...