base::DiscreteStateSpace Class Reference

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>

Inheritance diagram for base::DiscreteStateSpace:

List of all members.

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 StateallocState () 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.


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