ompl/base/spaces/DiscreteStateSpace.h
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00034 
00035 /* Author: Elizabeth Fudge */
00036 
00037 #ifndef OMPL_BASE_SPACES_DISCRETE_STATE_SPACE_
00038 #define OMPL_BASE_SPACES_DISCRETE_STATE_SPACE_
00039 
00040 #include "ompl/base/StateSpace.h"
00041 
00042 namespace ompl
00043 {
00044     namespace base
00045     {
00046 
00048         class DiscreteStateSampler : public StateSampler
00049         {
00050         public:
00051 
00053             DiscreteStateSampler(const StateSpace *space) : StateSampler(space)
00054             {
00055             }
00056 
00057             virtual void sampleUniform(State *state);
00058             virtual void sampleUniformNear(State *state, const State *near, const double distance);
00059             virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
00060         };
00061 
00069         class DiscreteStateSpace : public StateSpace
00070         {
00071         public:
00072 
00074             class StateType : public State
00075             {
00076             public:
00077 
00079                 int value;
00080             };
00081 
00083             DiscreteStateSpace(int lowerBound, int upperBound) : StateSpace(), lowerBound_(lowerBound), upperBound_(upperBound)
00084             {
00085                 setName("Discrete" + getName());
00086                 type_ = STATE_SPACE_DISCRETE;
00087             }
00088 
00089             virtual ~DiscreteStateSpace()
00090             {
00091             }
00092 
00093             virtual bool isDiscrete() const;
00094 
00095             virtual unsigned int getDimension() const;
00096 
00097             virtual double getMaximumExtent() const;
00098 
00099             virtual double getMeasure() const;
00100 
00101             virtual void enforceBounds(State *state) const;
00102 
00103             virtual bool satisfiesBounds(const State *state) const;
00104 
00105             virtual unsigned int getSerializationLength() const;
00106 
00107             virtual void serialize(void *serialization, const State *state) const;
00108 
00109             virtual void deserialize(State *state, const void *serialization) const;
00110 
00111             virtual void copyState(State *destination, const State *source) const;
00112 
00113             virtual double distance(const State *state1, const State *state2) const;
00114 
00115             virtual bool equalStates(const State *state1, const State *state2) const;
00116 
00117             virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
00118 
00119             virtual StateSamplerPtr allocDefaultStateSampler() const;
00120 
00121             virtual State* allocState() const;
00122 
00123             virtual void freeState(State *state) const;
00124 
00125             virtual void printState(const State *state, std::ostream &out) const;
00126 
00127             virtual void printSettings(std::ostream &out) const;
00128 
00129             virtual void registerProjections();
00130 
00132             unsigned int getStateCount() const
00133             {
00134                 return upperBound_ - lowerBound_ + 1;
00135             }
00136 
00138             int getLowerBound() const
00139             {
00140                 return lowerBound_;
00141             }
00142 
00144             int getUpperBound() const
00145             {
00146                 return upperBound_;
00147             }
00148 
00150             void setBounds(int lowerBound, int upperBound)
00151             {
00152                 lowerBound_ = lowerBound;
00153                 upperBound_ = upperBound;
00154             }
00155 
00156             virtual void setup();
00157 
00158         protected:
00159 
00161             int lowerBound_;
00162 
00164             int upperBound_;
00165         };
00166     }
00167 }
00168 
00169 #endif
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