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DiscreteStateSpace.cpp
45 space_->as<DiscreteStateSpace>()->getLowerBound(), space_->as<DiscreteStateSpace>()->getUpperBound());
48void ompl::base::DiscreteStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
52 near->as<DiscreteStateSpace::StateType>()->value - d, near->as<DiscreteStateSpace::StateType>()->value + d);
56void ompl::base::DiscreteStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
93 return state->as<StateType>()->value >= lowerBound_ && state->as<StateType>()->value <= upperBound_;
126void ompl::base::DiscreteStateSpace::interpolate(const State *from, const State *to, const double t, State *state) const
198 out << "Discrete state space '" << getName() << "' with bounds [" << lowerBound_ << ", " << upperBound_ << "]"
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).
Definition DiscreteStateSpace.cpp:56
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
Definition DiscreteStateSpace.cpp:48
The definition of a discrete state.
Definition DiscreteStateSpace.h:72
int value
The current state - an int in range [lowerBound, upperBound].
Definition DiscreteStateSpace.h:75
A space representing discrete states; i.e. there are a small number of discrete states the system can...
Definition DiscreteStateSpace.h:68
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
Definition DiscreteStateSpace.cpp:68
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation....
Definition DiscreteStateSpace.cpp:179
void printSettings(std::ostream &out) const override
Print the settings for this state space to a stream.
Definition DiscreteStateSpace.cpp:196
DiscreteStateSpace(int lowerBound, int upperBound)
Construct a discrete space in wich states can take values in the set [lowerBound, upperBound].
Definition DiscreteStateSpace.h:80
double distance(const State *state1, const State *state2) const override
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
Definition DiscreteStateSpace.cpp:116
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
Definition DiscreteStateSpace.cpp:132
bool equalStates(const State *state1, const State *state2) const override
Checks whether two states are equal.
Definition DiscreteStateSpace.cpp:121
void interpolate(const State *from, const State *to, double t, State *state) const override
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state....
Definition DiscreteStateSpace.cpp:126
double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
Definition DiscreteStateSpace.cpp:78
bool satisfiesBounds(const State *state) const override
Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...
Definition DiscreteStateSpace.cpp:91
void deserialize(State *state, const void *serialization) const override
Read the binary representation of a state from serialization and write it to state.
Definition DiscreteStateSpace.cpp:111
void copyState(State *destination, const State *source) const override
Copy a state to another. The memory of source and destination should NOT overlap.
Definition DiscreteStateSpace.cpp:96
void freeState(State *state) const override
Free the memory of the allocated state.
Definition DiscreteStateSpace.cpp:142
State * allocState() const override
Allocate a state that can store a point in the described space.
Definition DiscreteStateSpace.cpp:137
bool isDiscrete() const override
Check if the set of states is discrete.
Definition DiscreteStateSpace.cpp:63
void registerProjections() override
Register the projections for this state space. Usually, this is at least the default projection....
Definition DiscreteStateSpace.cpp:147
unsigned int getSerializationLength() const override
Get the number of chars in the serialization of a state in this space.
Definition DiscreteStateSpace.cpp:101
void serialize(void *serialization, const State *state) const override
Write the binary representation of state to serialization.
Definition DiscreteStateSpace.cpp:106
void printState(const State *state, std::ostream &out) const override
Print a state to a stream.
Definition DiscreteStateSpace.cpp:186
double getMaximumExtent() const override
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
Definition DiscreteStateSpace.cpp:73
void enforceBounds(State *state) const override
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
Definition DiscreteStateSpace.cpp:83
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
Definition ProjectionEvaluator.h:131
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation....
Definition StateSpace.cpp:237
void registerDefaultProjection(const ProjectionEvaluatorPtr &projection)
Register the default projection for this state space.
Definition StateSpace.cpp:752