DiscreteStateSpace.h
83 DiscreteStateSpace(int lowerBound, int upperBound) : StateSpace(), lowerBound_(lowerBound), upperBound_(upperBound)
117 virtual void interpolate(const State *from, const State *to, const double t, State *state) const;
void setName(const std::string &name)
Set the name of the state space.
Definition: StateSpace.cpp:203
virtual void copyState(State *destination, const State *source) const
Copy a state to another. The memory of source and destination should NOT overlap. ...
Definition: DiscreteStateSpace.cpp:99
The definition of a discrete state.
Definition: DiscreteStateSpace.h:74
virtual unsigned int getDimension() const
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
Definition: DiscreteStateSpace.cpp:70
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev) ...
Definition: DiscreteStateSpace.cpp:58
virtual bool equalStates(const State *state1, const State *state2) const
Checks whether two states are equal.
Definition: DiscreteStateSpace.cpp:124
virtual unsigned int getSerializationLength() const
Get the number of chars in the serialization of a state in this space.
Definition: DiscreteStateSpace.cpp:104
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.
Definition: DiscreteStateSpace.cpp:183
virtual void deserialize(State *state, const void *serialization) const
Read the binary representation of a state from serialization and write it to state.
Definition: DiscreteStateSpace.cpp:114
virtual double distance(const State *state1, const State *state2) const
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
Definition: DiscreteStateSpace.cpp:119
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-...
Definition: DiscreteStateSpace.cpp:85
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
Definition: DiscreteStateSpace.cpp:49
virtual State * allocState() const
Allocate a state that can store a point in the described space.
Definition: DiscreteStateSpace.cpp:140
virtual void printState(const State *state, std::ostream &out) const
Print a state to a stream.
Definition: DiscreteStateSpace.cpp:190
virtual double getMeasure() const
Get a measure of the space (this can be thought of as a generalization of volume) ...
Definition: DiscreteStateSpace.cpp:80
virtual StateSamplerPtr allocDefaultStateSampler() const
Allocate an instance of the default uniform state sampler for this space.
Definition: DiscreteStateSpace.cpp:135
virtual double getMaximumExtent() const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition: DiscreteStateSpace.cpp:75
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...
Definition: DiscreteStateSpace.cpp:129
void setBounds(int lowerBound, int upperBound)
Set the bounds for the states in this space (the states will be in the set [lowerBound, upperBound].
Definition: DiscreteStateSpace.h:150
virtual bool isDiscrete() const
Check if the set of states is discrete.
Definition: DiscreteStateSpace.cpp:65
State space sampler for discrete states.
Definition: DiscreteStateSpace.h:48
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
virtual bool satisfiesBounds(const State *state) const
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
Definition: DiscreteStateSpace.cpp:94
virtual void printSettings(std::ostream &out) const
Print the settings for this state space to a stream.
Definition: DiscreteStateSpace.cpp:200
DiscreteStateSpace(int lowerBound, int upperBound)
Construct a discrete space in wich states can take values in the set [lowerBound, upperBound]...
Definition: DiscreteStateSpace.h:83
A space representing discrete states; i.e. there are a small number of discrete states the system can...
Definition: DiscreteStateSpace.h:69
virtual void serialize(void *serialization, const State *state) const
Write the binary representation of state to serialization.
Definition: DiscreteStateSpace.cpp:109
int value
The current state - an int in range [lowerBound, upperBound].
Definition: DiscreteStateSpace.h:79
unsigned int getStateCount() const
Returns the number of states possible.
Definition: DiscreteStateSpace.h:132
virtual void freeState(State *state) const
Free the memory of the allocated state.
Definition: DiscreteStateSpace.cpp:145
virtual void registerProjections()
Register the projections for this state space. Usually, this is at least the default projection...
Definition: DiscreteStateSpace.cpp:150