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. More...
#include <ompl/base/spaces/DiscreteStateSpace.h>

Public Member Functions | |
DiscreteStateSpace (int lowerBound, int upperBound) | |
Construct a discrete space in wich states can take values in the set [lowerBound, upperBound]. | |
virtual bool | isDiscrete () const |
Check if the set of states is discrete. | |
virtual unsigned int | getDimension () const |
Get the dimension of the space (not the dimension of the surrounding ambient space) | |
virtual double | getMaximumExtent () const |
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces, this function can return infinity. | |
virtual double | getMeasure () const |
Get a measure of the space (this can be thought of as a generalization of volume) | |
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 | satisfiesBounds (const State *state) const |
Check if a state is inside the bounding box. For unbounded spaces this function can always return true. | |
virtual unsigned int | getSerializationLength () const |
Get the number of chars in the serialization of a state in this space. | |
virtual void | serialize (void *serialization, const State *state) const |
Write the binary representation of state to serialization. | |
virtual void | deserialize (State *state, const void *serialization) const |
Read the binary representation of a state from serialization and write it to state. | |
virtual void | copyState (State *destination, const State *source) const |
Copy a state to another. The memory of source and destination should NOT overlap. | |
virtual double | distance (const State *state1, const State *state2) const |
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 |
Checks whether two states are equal. | |
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 StateSamplerPtr | allocDefaultStateSampler () const |
Allocate an instance of the default uniform state sampler for this space. | |
virtual State * | allocState () const |
Allocate a state that can store a point in the described space. | |
virtual void | freeState (State *state) const |
Free the memory of the allocated state. | |
virtual void | printState (const State *state, std::ostream &out) const |
Print a state to a stream. | |
virtual void | printSettings (std::ostream &out) const |
Print the settings for this state space to a stream. | |
virtual void | registerProjections () |
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(). | |
unsigned int | getStateCount () const |
Returns the number of states possible. | |
int | getLowerBound () const |
Returns the lowest possible state. | |
int | getUpperBound () const |
Returns the highest possible state. | |
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 () |
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. |
Detailed Description
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.
Definition at line 69 of file DiscreteStateSpace.h.
Member Function Documentation
void base::DiscreteStateSpace::copyState | ( | State * | destination, |
const State * | source | ||
) | const [virtual] |
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.
Implements base::StateSpace.
Definition at line 99 of file DiscreteStateSpace.cpp.
double base::DiscreteStateSpace::getMaximumExtent | ( | ) | 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.
- 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.
Implements base::StateSpace.
Definition at line 75 of file DiscreteStateSpace.cpp.
bool base::DiscreteStateSpace::isDiscrete | ( | ) | const [virtual] |
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.
Reimplemented from base::StateSpace.
Definition at line 65 of file DiscreteStateSpace.cpp.
The documentation for this class was generated from the following files:
- ompl/base/spaces/DiscreteStateSpace.h
- ompl/base/spaces/src/DiscreteStateSpace.cpp