All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator
DiscreteStateSpace.h
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2011, Rice University
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Rice University nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Elizabeth Fudge */
00036 
00037 #ifndef OMPL_BASE_SPACE_DISCRETE_STATE_SPACE_
00038 #define OMPL_BASE_SPACE_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 
00068         class DiscreteStateSpace : public StateSpace
00069         {
00070         public:
00071 
00073             class StateType : public State
00074             {
00075             public:
00076 
00078                 int value;
00079             };
00080 
00082             DiscreteStateSpace(int lowerBound, int upperBound) : StateSpace(), lowerBound_(lowerBound), upperBound_(upperBound)
00083             {
00084                 setName("Discrete" + getName());
00085                 type_ = STATE_SPACE_DISCRETE;
00086             }
00087 
00088             virtual ~DiscreteStateSpace(void)
00089             {
00090             }
00091 
00092             virtual bool isDiscrete(void) const;
00093 
00094             virtual unsigned int getDimension(void) const;
00095 
00096             virtual double getMaximumExtent(void) const;
00097 
00098             virtual void enforceBounds(State *state) const;
00099 
00100             virtual bool satisfiesBounds(const State *state) const;
00101 
00102             virtual void copyState(State *destination, const State *source) const;
00103 
00104             virtual double distance(const State *state1, const State *state2) const;
00105 
00106             virtual bool equalStates(const State *state1, const State *state2) const;
00107 
00108             virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
00109 
00110             virtual StateSamplerPtr allocStateSampler(void) const;
00111 
00112             virtual State* allocState(void) const;
00113 
00114             virtual void freeState(State *state) const;
00115 
00116             virtual void printState(const State *state, std::ostream &out) const;
00117 
00118             virtual void printSettings(std::ostream &out) const;
00119 
00120             virtual void registerProjections(void);
00121 
00123             unsigned int getStateCount(void) const
00124             {
00125                 return upperBound_ - lowerBound_ + 1;
00126             }
00127 
00129             int getLowerBound(void) const
00130             {
00131                 return lowerBound_;
00132             }
00133 
00135             int getUpperBound(void) const
00136             {
00137                 return upperBound_;
00138             }
00139 
00141             void setBounds(int lowerBound, int upperBound)
00142             {
00143                 lowerBound_ = lowerBound;
00144                 upperBound_ = upperBound;
00145             }
00146 
00147             virtual void setup(void);
00148 
00149         protected:
00150 
00152             int lowerBound_;
00153 
00155             int upperBound_;
00156         };
00157     }
00158 }
00159 
00160 #endif