Class DiscreteStateSpace

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class DiscreteStateSpace : public ompl::base::StateSpace

A space representing discrete states; i.e. there are a small number of discrete states the system can be in. States are represented as integers [lowerBound, upperBound], where lowerBound and upperBound are inclusive. States do not wrap around; i.e. the distance between state lowerBound and state upperBound is upperBound-lowerBound. The dimension of the space is 1.

Public Functions

inline DiscreteStateSpace(int lowerBound, int upperBound)

Construct a discrete space in wich states can take values in the set [lowerBound, upperBound].

~DiscreteStateSpace() override = default
virtual bool isDiscrete() const override

Check if the set of states is discrete.

Note

In fact, because of limited numerical precision, the representation of all spaces is discrete; this function returns true if the corresponding mathematical object is a discrete one.

virtual unsigned int getDimension() const override

Get the dimension of the space (not the dimension of the surrounding ambient space)

virtual double getMaximumExtent() const override

Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces, this function can return infinity.

Note

Tight upper bounds are preferred because the value of the extent is used in the automatic computation of parameters for planning. If the bounds are less tight, the automatically computed parameters will be less useful.

virtual double getMeasure() const override

Get a measure of the space (this can be thought of as a generalization of volume)

virtual 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-op.

virtual bool satisfiesBounds(const State *state) const override

Check if a state is inside the bounding box. For unbounded spaces this function can always return true.

virtual unsigned int getSerializationLength() const override

Get the number of chars in the serialization of a state in this space.

virtual void serialize(void *serialization, const State *state) const override

Write the binary representation of state to serialization.

virtual void deserialize(State *state, const void *serialization) const override

Read the binary representation of a state from serialization and write it to state.

virtual void copyState(State *destination, const State *source) const override

Copy a state to another. The memory of source and destination should NOT overlap.

Note

For more advanced state copying methods (partial copy, for example), see Advanced methods for copying states.

virtual double distance(const State *state1, const State *state2) const override

Computes distance between two states. This function satisfies the properties of a metric if isMetricSpace() is true, and its return value will always be between 0 and getMaximumExtent()

virtual bool equalStates(const State *state1, const State *state2) const override

Checks whether two states are equal.

virtual 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. The memory location of state is not required to be different from the memory of either from or to.

virtual StateSamplerPtr allocDefaultStateSampler() const override

Allocate an instance of the default uniform state sampler for this space.

virtual State *allocState() const override

Allocate a state that can store a point in the described space.

virtual void freeState(State *state) const override

Free the memory of the allocated state.

virtual void printState(const State *state, std::ostream &out) const override

Print a state to a stream.

virtual void printSettings(std::ostream &out) const override

Print the settings for this state space to a stream.

virtual void registerProjections() override

Register the projections for this state space. Usually, this is at least the default projection. These are implicit projections, set by the implementation of the state space. This is called by setup().

inline unsigned int getStateCount() const

Returns the number of states possible.

inline int getLowerBound() const

Returns the lowest possible state.

inline int getUpperBound() const

Returns the highest possible state.

inline void setBounds(int lowerBound, int upperBound)

Set the bounds for the states in this space (the states will be in the set [lowerBound, upperBound].

virtual void setup() override

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.

Protected Attributes

int lowerBound_

The lowest integer state.

int upperBound_

The highest integer state.

class StateType : public ompl::base::State

The definition of a discrete state.

Public Members

int value

The current state - an int in range [lowerBound, upperBound].