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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(void)
00090 {
00091 }
00092
00093 virtual bool isDiscrete(void) const;
00094
00095 virtual unsigned int getDimension(void) const;
00096
00097 virtual double getMaximumExtent(void) const;
00098
00099 virtual void enforceBounds(State *state) const;
00100
00101 virtual bool satisfiesBounds(const State *state) const;
00102
00103 virtual unsigned int getSerializationLength(void) const;
00104
00105 virtual void serialize(void *serialization, const State *state) const;
00106
00107 virtual void deserialize(State *state, const void *serialization) const;
00108
00109 virtual void copyState(State *destination, const State *source) const;
00110
00111 virtual double distance(const State *state1, const State *state2) const;
00112
00113 virtual bool equalStates(const State *state1, const State *state2) const;
00114
00115 virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
00116
00117 virtual StateSamplerPtr allocDefaultStateSampler(void) const;
00118
00119 virtual State* allocState(void) const;
00120
00121 virtual void freeState(State *state) const;
00122
00123 virtual void printState(const State *state, std::ostream &out) const;
00124
00125 virtual void printSettings(std::ostream &out) const;
00126
00127 virtual void registerProjections(void);
00128
00130 unsigned int getStateCount(void) const
00131 {
00132 return upperBound_ - lowerBound_ + 1;
00133 }
00134
00136 int getLowerBound(void) const
00137 {
00138 return lowerBound_;
00139 }
00140
00142 int getUpperBound(void) const
00143 {
00144 return upperBound_;
00145 }
00146
00148 void setBounds(int lowerBound, int upperBound)
00149 {
00150 lowerBound_ = lowerBound;
00151 upperBound_ = upperBound;
00152 }
00153
00154 virtual void setup(void);
00155
00156 protected:
00157
00159 int lowerBound_;
00160
00162 int upperBound_;
00163 };
00164 }
00165 }
00166
00167 #endif