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, NOT 1. More...
#include <DiscreteStateSpace.h>
Classes | |
| class | StateType |
| The definition of a discrete state. More... | |
Public Member Functions | |
| virtual State * | allocState (void) const |
| Allocate a state that can store a point in the described space. | |
| virtual StateSamplerPtr | allocStateSampler (void) const |
| Allocate an instance of a uniform state sampler for this space. | |
| virtual void | copyState (State *destination, const State *source) const |
| Copy a state to another. The memory of source and destination should NOT overlap. | |
| DiscreteStateSpace (int lowerBound, int upperBound) | |
| Construct a discrete space in wich states can take values in the set [lowerBound, upperBound]. | |
| virtual double | distance (const State *state1, const State *state2) const |
| Computes distance to between two states. This function satisfies the properties of a metric and its return value will always be between 0 and getMaximumExtent(). | |
| 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-op. | |
| virtual bool | equalStates (const State *state1, const State *state2) const |
| Checks whether two states are equal. | |
| virtual void | freeState (State *state) const |
| Free the memory of the allocated state. | |
| virtual unsigned int | getDimension (void) const |
| Get the dimension of the space (not the dimension of the surrounding ambient space). | |
| int | getLowerBound (void) const |
| Returns the lowest possible state. | |
| virtual double | getMaximumExtent (void) const |
| Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces, this function can return infinity. | |
| unsigned int | getStateCount (void) const |
| Returns the number of states possible. | |
| int | getUpperBound (void) const |
| Returns the highest possible state. | |
| 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. The memory location of state is not required to be different from the memory of either from or to. | |
| virtual bool | isDiscrete (void) const |
| Check if the set of states is discrete. | |
| virtual void | printSettings (std::ostream &out) const |
| Print the settings for this state space to a stream. | |
| virtual void | printState (const State *state, std::ostream &out) const |
| Print a state to a stream. | |
| virtual void | registerProjections (void) |
| 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(). | |
| virtual bool | satisfiesBounds (const State *state) const |
| Check if a state is inside the bounding box. For unbounded spaces this function can always return true. | |
| 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 (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. It is safe to call this function multiple times. | |
| virtual | ~DiscreteStateSpace (void) |
Protected Attributes | |
| int | lowerBound_ |
| The lowest integer state. | |
| int | upperBound_ |
| The highest integer state. | |
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, NOT 1.
Definition at line 68 of file DiscreteStateSpace.h.
| ompl::base::DiscreteStateSpace::DiscreteStateSpace | ( | int | lowerBound, | |
| int | upperBound | |||
| ) | [inline] |
Construct a discrete space in wich states can take values in the set [lowerBound, upperBound].
Definition at line 82 of file DiscreteStateSpace.h.
| virtual ompl::base::DiscreteStateSpace::~DiscreteStateSpace | ( | void | ) | [inline, virtual] |
Definition at line 88 of file DiscreteStateSpace.h.
| virtual State* ompl::base::DiscreteStateSpace::allocState | ( | void | ) | const [virtual] |
Allocate a state that can store a point in the described space.
Implements ompl::base::StateSpace.
| virtual StateSamplerPtr ompl::base::DiscreteStateSpace::allocStateSampler | ( | void | ) | const [virtual] |
Allocate an instance of a uniform state sampler for this space.
Implements ompl::base::StateSpace.
| virtual void ompl::base::DiscreteStateSpace::copyState | ( | State * | destination, | |
| const State * | source | |||
| ) | const [virtual] |
Copy a state to another. The memory of source and destination should NOT overlap.
Implements ompl::base::StateSpace.
| virtual double ompl::base::DiscreteStateSpace::distance | ( | const State * | state1, | |
| const State * | state2 | |||
| ) | const [virtual] |
Computes distance to between two states. This function satisfies the properties of a metric and its return value will always be between 0 and getMaximumExtent().
Implements ompl::base::StateSpace.
| virtual void ompl::base::DiscreteStateSpace::enforceBounds | ( | State * | state | ) | const [virtual] |
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-op.
Implements ompl::base::StateSpace.
| virtual bool ompl::base::DiscreteStateSpace::equalStates | ( | const State * | state1, | |
| const State * | state2 | |||
| ) | const [virtual] |
Checks whether two states are equal.
Implements ompl::base::StateSpace.
| virtual void ompl::base::DiscreteStateSpace::freeState | ( | State * | state | ) | const [virtual] |
Free the memory of the allocated state.
Implements ompl::base::StateSpace.
| virtual unsigned int ompl::base::DiscreteStateSpace::getDimension | ( | void | ) | const [virtual] |
Get the dimension of the space (not the dimension of the surrounding ambient space).
Implements ompl::base::StateSpace.
| int ompl::base::DiscreteStateSpace::getLowerBound | ( | void | ) | const [inline] |
Returns the lowest possible state.
Definition at line 129 of file DiscreteStateSpace.h.
| virtual double ompl::base::DiscreteStateSpace::getMaximumExtent | ( | void | ) | const [virtual] |
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces, this function can return infinity.
Implements ompl::base::StateSpace.
| unsigned int ompl::base::DiscreteStateSpace::getStateCount | ( | void | ) | const [inline] |
Returns the number of states possible.
Definition at line 123 of file DiscreteStateSpace.h.
| int ompl::base::DiscreteStateSpace::getUpperBound | ( | void | ) | const [inline] |
Returns the highest possible state.
Definition at line 135 of file DiscreteStateSpace.h.
| virtual void ompl::base::DiscreteStateSpace::interpolate | ( | const State * | from, | |
| const State * | to, | |||
| const double | t, | |||
| State * | state | |||
| ) | const [virtual] |
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.
Implements ompl::base::StateSpace.
| virtual bool ompl::base::DiscreteStateSpace::isDiscrete | ( | void | ) | const [virtual] |
Check if the set of states is discrete.
Reimplemented from ompl::base::StateSpace.
| virtual void ompl::base::DiscreteStateSpace::printSettings | ( | std::ostream & | out | ) | const [virtual] |
Print the settings for this state space to a stream.
Reimplemented from ompl::base::StateSpace.
| virtual void ompl::base::DiscreteStateSpace::printState | ( | const State * | state, | |
| std::ostream & | out | |||
| ) | const [virtual] |
Print a state to a stream.
Reimplemented from ompl::base::StateSpace.
| virtual void ompl::base::DiscreteStateSpace::registerProjections | ( | void | ) | [virtual] |
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().
Reimplemented from ompl::base::StateSpace.
| virtual bool ompl::base::DiscreteStateSpace::satisfiesBounds | ( | const State * | state | ) | const [virtual] |
Check if a state is inside the bounding box. For unbounded spaces this function can always return true.
Implements ompl::base::StateSpace.
| void ompl::base::DiscreteStateSpace::setBounds | ( | int | lowerBound, | |
| int | upperBound | |||
| ) | [inline] |
Set the bounds for the states in this space (the states will be in the set [lowerBound, upperBound].
Definition at line 141 of file DiscreteStateSpace.h.
| virtual void ompl::base::DiscreteStateSpace::setup | ( | void | ) | [virtual] |
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. It is safe to call this function multiple times.
Reimplemented from ompl::base::StateSpace.
int ompl::base::DiscreteStateSpace::lowerBound_ [protected] |
The lowest integer state.
Definition at line 152 of file DiscreteStateSpace.h.
int ompl::base::DiscreteStateSpace::upperBound_ [protected] |
The highest integer state.
Definition at line 155 of file DiscreteStateSpace.h.
