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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