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 | |
DiscreteStateSpace (int lowerBound, int upperBound) | |
Construct a discrete space in wich states can take values in the set [lowerBound, upperBound]. | |
virtual bool | isDiscrete (void) const |
Check if the set of states is discrete. | |
virtual unsigned int | getDimension (void) const |
Get the dimension of the space (not the dimension of the surrounding ambient space) | |
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. | |
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 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 to between two states. This function satisfies the properties of a metric 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 | allocStateSampler (void) const |
Allocate an instance of a uniform state sampler for this space. | |
virtual State * | allocState (void) 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 (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(). | |
unsigned int | getStateCount (void) const |
Returns the number of states possible. | |
int | getLowerBound (void) const |
Returns the lowest possible state. | |
int | getUpperBound (void) 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 (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. | |
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.
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.
Definition at line 75 of file DiscreteStateSpace.cpp.
bool ompl::base::DiscreteStateSpace::isDiscrete | ( | void | ) | const [virtual] |
Check if the set of states is discrete.
Reimplemented from ompl::base::StateSpace.
Definition at line 65 of file DiscreteStateSpace.cpp.