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<div class="title">DiscreteStateSpace.cpp</div>  </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">*  Copyright (c) 2011, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">*  All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">*  Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">*  modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">*  are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">*   * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">*     notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">*   * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">*     copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">*     disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">*     with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">*   * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">*     contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">*     from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">*  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
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<a name="l00031"></a>00031 <span class="comment">*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">*  POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="comment">/* Author: Elizabeth Fudge */</span>
<a name="l00036"></a>00036 
<a name="l00037"></a>00037 <span class="preprocessor">#include &quot;ompl/base/spaces/DiscreteStateSpace.h&quot;</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include &quot;ompl/util/Exception.h&quot;</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include &lt;limits&gt;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &lt;cstdlib&gt;</span>
<a name="l00041"></a>00041 
<a name="l00042"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSampler.html#a3ee2bb324e214f71f8b90a63bd3633c1">00042</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSampler.html#a3ee2bb324e214f71f8b90a63bd3633c1" title="Sample a state.">ompl::base::DiscreteStateSampler::sampleUniform</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state)
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044     state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">DiscreteStateSpace::StateType</a>&gt;()-&gt;value =
<a name="l00045"></a>00045         <a class="code" href="classompl_1_1base_1_1StateSampler.html#ad8b2f106c42eaa4788bb6914cd5371fb" title="An instance of a random number generator.">rng_</a>.<a class="code" href="classompl_1_1RNG.html#ad122fd3309d2a2c72ca1dd665c1a2803" title="Generate a random integer within given bounds: [lower_bound, upper_bound].">uniformInt</a>(<a class="code" href="classompl_1_1base_1_1StateSampler.html#ade7594512889b577995b3479c71f3b6d" title="The state space this sampler samples.">space_</a>-&gt;<a class="code" href="classompl_1_1base_1_1StateSpace.html#af1d70611d231dd7d463cea6220d3b01a" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html" title="A space representing discrete states; i.e. there are a small number of discrete states the system can...">DiscreteStateSpace</a>&gt;()-&gt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a96a783ee5642564f8852d853302e61f5" title="Returns the lowest possible state.">getLowerBound</a>(),
<a name="l00046"></a>00046                         <a class="code" href="classompl_1_1base_1_1StateSampler.html#ade7594512889b577995b3479c71f3b6d" title="The state space this sampler samples.">space_</a>-&gt;<a class="code" href="classompl_1_1base_1_1StateSpace.html#af1d70611d231dd7d463cea6220d3b01a" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html" title="A space representing discrete states; i.e. there are a small number of discrete states the system can...">DiscreteStateSpace</a>&gt;()-&gt;getUpperBound());
<a name="l00047"></a>00047 }
<a name="l00048"></a>00048 
<a name="l00049"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSampler.html#a5a52c98af688864714a40d4e5e72f3dc">00049</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSampler.html#a5a52c98af688864714a40d4e5e72f3dc" title="Sample a state near another, within specified distance.">ompl::base::DiscreteStateSampler::sampleUniformNear</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *near, <span class="keyword">const</span> <span class="keywordtype">double</span> distance)
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051     <span class="keyword">const</span> <span class="keywordtype">int</span> d = (int)floor(distance + 0.5);
<a name="l00052"></a>00052     state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">DiscreteStateSpace::StateType</a>&gt;()-&gt;value =
<a name="l00053"></a>00053         rng_.uniformInt(near-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">DiscreteStateSpace::StateType</a>&gt;()-&gt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html#a3a8b1ff9485b81db52b2695269ad15f1" title="The current state - an int in range [lowerBound, upperBound].">value</a> - d,
<a name="l00054"></a>00054                         near-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">DiscreteStateSpace::StateType</a>&gt;()-&gt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html#a3a8b1ff9485b81db52b2695269ad15f1" title="The current state - an int in range [lowerBound, upperBound].">value</a> + d);
<a name="l00055"></a>00055     space_-&gt;enforceBounds(state);
<a name="l00056"></a>00056 }
<a name="l00057"></a>00057 
<a name="l00058"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSampler.html#ab414f20dbebde3104714381d6c450c47">00058</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSampler.html#ab414f20dbebde3104714381d6c450c47" title="Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev)...">ompl::base::DiscreteStateSampler::sampleGaussian</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *mean, <span class="keyword">const</span> <span class="keywordtype">double</span> stdDev)
<a name="l00059"></a>00059 {
<a name="l00060"></a>00060     state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">DiscreteStateSpace::StateType</a>&gt;()-&gt;value =
<a name="l00061"></a>00061         (<span class="keywordtype">int</span>)floor(rng_.gaussian(mean-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">DiscreteStateSpace::StateType</a>&gt;()-&gt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html#a3a8b1ff9485b81db52b2695269ad15f1" title="The current state - an int in range [lowerBound, upperBound].">value</a>, stdDev) + 0.5);
<a name="l00062"></a>00062     space_-&gt;enforceBounds(state);
<a name="l00063"></a>00063 }
<a name="l00064"></a>00064 
<a name="l00065"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#afd90bfa97ae9cc027272b52cd7966fec">00065</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#afd90bfa97ae9cc027272b52cd7966fec" title="Check if the set of states is discrete.">ompl::base::DiscreteStateSpace::isDiscrete</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00066"></a>00066 <span class="keyword"></span>{
<a name="l00067"></a>00067     <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00068"></a>00068 }
<a name="l00069"></a>00069 
<a name="l00070"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#abae3e927d29b6322fc3bd2e586e41707">00070</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#abae3e927d29b6322fc3bd2e586e41707" title="Get the dimension of the space (not the dimension of the surrounding ambient space)">ompl::base::DiscreteStateSpace::getDimension</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00071"></a>00071 <span class="keyword"></span>{
<a name="l00072"></a>00072     <span class="keywordflow">return</span> 1;
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074 
<a name="l00075"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a4e162fbfbcb0b9a46a3a3c3e802c7c49">00075</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a4e162fbfbcb0b9a46a3a3c3e802c7c49" title="Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...">ompl::base::DiscreteStateSpace::getMaximumExtent</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00076"></a>00076 <span class="keyword"></span>{
<a name="l00077"></a>00077     <span class="keywordflow">return</span> upperBound_ - lowerBound_;
<a name="l00078"></a>00078 }
<a name="l00079"></a>00079 
<a name="l00080"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a1246bbbe424c3c82d4661d8c409b87da">00080</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a1246bbbe424c3c82d4661d8c409b87da" title="Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...">ompl::base::DiscreteStateSpace::enforceBounds</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state)<span class="keyword"> const</span>
<a name="l00081"></a>00081 <span class="keyword"></span>{
<a name="l00082"></a>00082     <span class="keywordflow">if</span> (state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>&gt;()-&gt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html#a3a8b1ff9485b81db52b2695269ad15f1" title="The current state - an int in range [lowerBound, upperBound].">value</a> &lt; lowerBound_)
<a name="l00083"></a>00083         state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>&gt;()-&gt;value = lowerBound_;
<a name="l00084"></a>00084     <span class="keywordflow">else</span>
<a name="l00085"></a>00085         <span class="keywordflow">if</span> (state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>&gt;()-&gt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html#a3a8b1ff9485b81db52b2695269ad15f1" title="The current state - an int in range [lowerBound, upperBound].">value</a> &gt; upperBound_)
<a name="l00086"></a>00086             state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>&gt;()-&gt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html#a3a8b1ff9485b81db52b2695269ad15f1" title="The current state - an int in range [lowerBound, upperBound].">value</a> = upperBound_;
<a name="l00087"></a>00087 }
<a name="l00088"></a>00088 
<a name="l00089"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a269c5ff29309beaaec16e130ad6d6a84">00089</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a269c5ff29309beaaec16e130ad6d6a84" title="Check if a state is inside the bounding box. For unbounded spaces this function can always return tru...">ompl::base::DiscreteStateSpace::satisfiesBounds</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state)<span class="keyword"> const</span>
<a name="l00090"></a>00090 <span class="keyword"></span>{
<a name="l00091"></a>00091     <span class="keywordflow">return</span> state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>&gt;()-&gt;value &gt;= lowerBound_ &amp;&amp; state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>&gt;()-&gt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html#a3a8b1ff9485b81db52b2695269ad15f1" title="The current state - an int in range [lowerBound, upperBound].">value</a> &lt;= upperBound_;
<a name="l00092"></a>00092 }
<a name="l00093"></a>00093 
<a name="l00094"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a6ce8e181f39cff7ccab6ac5ae2f9cafd">00094</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a6ce8e181f39cff7ccab6ac5ae2f9cafd" title="Copy a state to another. The memory of source and destination should NOT overlap.">ompl::base::DiscreteStateSpace::copyState</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *destination, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *source)<span class="keyword"> const</span>
<a name="l00095"></a>00095 <span class="keyword"></span>{
<a name="l00096"></a>00096     destination-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>&gt;()-&gt;value = source-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>&gt;()-&gt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html#a3a8b1ff9485b81db52b2695269ad15f1" title="The current state - an int in range [lowerBound, upperBound].">value</a>;
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098 
<a name="l00099"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#ab2324393c8a76c6ff127213b4dc1c90e">00099</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#ab2324393c8a76c6ff127213b4dc1c90e" title="Computes distance to between two states. This function satisfies the properties of a metric and its r...">ompl::base::DiscreteStateSpace::distance</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state1, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state2)<span class="keyword"> const</span>
<a name="l00100"></a>00100 <span class="keyword"></span>{
<a name="l00101"></a>00101     <span class="keywordflow">return</span> abs(state1-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>&gt;()-&gt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html#a3a8b1ff9485b81db52b2695269ad15f1" title="The current state - an int in range [lowerBound, upperBound].">value</a> - state2-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>&gt;()-&gt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html#a3a8b1ff9485b81db52b2695269ad15f1" title="The current state - an int in range [lowerBound, upperBound].">value</a>);
<a name="l00102"></a>00102 }
<a name="l00103"></a>00103 
<a name="l00104"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#ade2b260d8e816d5086cb104e6148d54f">00104</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#ade2b260d8e816d5086cb104e6148d54f" title="Checks whether two states are equal.">ompl::base::DiscreteStateSpace::equalStates</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state1, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state2)<span class="keyword"> const</span>
<a name="l00105"></a>00105 <span class="keyword"></span>{
<a name="l00106"></a>00106     <span class="keywordflow">return</span> state1-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>&gt;()-&gt;value == state2-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>&gt;()-&gt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html#a3a8b1ff9485b81db52b2695269ad15f1" title="The current state - an int in range [lowerBound, upperBound].">value</a>;
<a name="l00107"></a>00107 }
<a name="l00108"></a>00108 
<a name="l00109"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a17bdd2b4bf0e0cea9fc9ffe2bc9d12e3">00109</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a17bdd2b4bf0e0cea9fc9ffe2bc9d12e3" title="Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...">ompl::base::DiscreteStateSpace::interpolate</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *from, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *to, <span class="keyword">const</span> <span class="keywordtype">double</span> t, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state)<span class="keyword"> const</span>
<a name="l00110"></a>00110 <span class="keyword"></span>{
<a name="l00111"></a>00111     state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>&gt;()-&gt;value = (<span class="keywordtype">int</span>)floor(from-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>&gt;()-&gt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html#a3a8b1ff9485b81db52b2695269ad15f1" title="The current state - an int in range [lowerBound, upperBound].">value</a> +
<a name="l00112"></a>00112                                                (to-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>&gt;()-&gt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html#a3a8b1ff9485b81db52b2695269ad15f1" title="The current state - an int in range [lowerBound, upperBound].">value</a> - from-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>&gt;()-&gt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html#a3a8b1ff9485b81db52b2695269ad15f1" title="The current state - an int in range [lowerBound, upperBound].">value</a>) * t + 0.5);
<a name="l00113"></a>00113 }
<a name="l00114"></a>00114 
<a name="l00115"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#aae72454699008b487594ccd4c1c21881">00115</a> <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::StateSampler.">ompl::base::StateSamplerPtr</a> <a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#aae72454699008b487594ccd4c1c21881" title="Allocate an instance of a uniform state sampler for this space.">ompl::base::DiscreteStateSpace::allocStateSampler</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00116"></a>00116 <span class="keyword"></span>{
<a name="l00117"></a>00117     <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::StateSampler.">StateSamplerPtr</a>(<span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSampler.html" title="State space sampler for discrete states.">DiscreteStateSampler</a>(<span class="keyword">this</span>));
<a name="l00118"></a>00118 }
<a name="l00119"></a>00119 
<a name="l00120"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a56336d7a88e4e79046eef462b734ee2d">00120</a> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ompl::base::State</a>* <a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a56336d7a88e4e79046eef462b734ee2d" title="Allocate a state that can store a point in the described space.">ompl::base::DiscreteStateSpace::allocState</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00121"></a>00121 <span class="keyword"></span>{
<a name="l00122"></a>00122     <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>();
<a name="l00123"></a>00123 }
<a name="l00124"></a>00124 
<a name="l00125"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a4f318a56d5804c88f47605646882c471">00125</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a4f318a56d5804c88f47605646882c471" title="Free the memory of the allocated state.">ompl::base::DiscreteStateSpace::freeState</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state)<span class="keyword"> const</span>
<a name="l00126"></a>00126 <span class="keyword"></span>{
<a name="l00127"></a>00127     <span class="keyword">delete</span> <span class="keyword">static_cast&lt;</span><a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>*<span class="keyword">&gt;</span>(state);
<a name="l00128"></a>00128 }
<a name="l00129"></a>00129 
<a name="l00130"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a24d08db42cb5a2cdfaff8dfad158adf9">00130</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a24d08db42cb5a2cdfaff8dfad158adf9" title="Register the projections for this state space. Usually, this is at least the default projection...">ompl::base::DiscreteStateSpace::registerProjections</a>(<span class="keywordtype">void</span>)
<a name="l00131"></a>00131 {
<a name="l00132"></a>00132     <span class="keyword">class </span>DiscreteDefaultProjection : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html" title="Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...">ProjectionEvaluator</a>
<a name="l00133"></a>00133     {
<a name="l00134"></a>00134     <span class="keyword">public</span>:
<a name="l00135"></a>00135 
<a name="l00136"></a>00136         DiscreteDefaultProjection(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">StateSpace</a> *space) : <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html" title="Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...">ProjectionEvaluator</a>(space)
<a name="l00137"></a>00137         {
<a name="l00138"></a>00138         }
<a name="l00139"></a>00139 
<a name="l00140"></a>00140         <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getDimension(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00141"></a>00141 <span class="keyword">        </span>{
<a name="l00142"></a>00142             <span class="keywordflow">return</span> 1;
<a name="l00143"></a>00143         }
<a name="l00144"></a>00144 
<a name="l00145"></a>00145         <span class="keyword">virtual</span> <span class="keywordtype">void</span> defaultCellSizes(<span class="keywordtype">void</span>)
<a name="l00146"></a>00146         {
<a name="l00147"></a>00147             cellSizes_.resize(1);
<a name="l00148"></a>00148             cellSizes_[0] = 1.0;
<a name="l00149"></a>00149         }
<a name="l00150"></a>00150 
<a name="l00151"></a>00151         <span class="keyword">virtual</span> <span class="keywordtype">void</span> project(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <a class="code" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b" title="The datatype for state projections. This class contains a real vector.">EuclideanProjection</a> &amp;projection)<span class="keyword"> const</span>
<a name="l00152"></a>00152 <span class="keyword">        </span>{
<a name="l00153"></a>00153             projection(0) = state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">DiscreteStateSpace::StateType</a>&gt;()-&gt;value;
<a name="l00154"></a>00154         }
<a name="l00155"></a>00155     };
<a name="l00156"></a>00156 
<a name="l00157"></a>00157     registerDefaultProjection(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">ProjectionEvaluatorPtr</a>(dynamic_cast&lt;ProjectionEvaluator*&gt;(<span class="keyword">new</span> DiscreteDefaultProjection(<span class="keyword">this</span>))));
<a name="l00158"></a>00158 }
<a name="l00159"></a>00159 
<a name="l00160"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a6646ed652da596db8e5ea58e656e275f">00160</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#a6646ed652da596db8e5ea58e656e275f" title="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. It is safe to call this function multiple times.">ompl::base::DiscreteStateSpace::setup</a>(<span class="keywordtype">void</span>)
<a name="l00161"></a>00161 {
<a name="l00162"></a>00162     <span class="keywordflow">if</span> (lowerBound_ &gt; upperBound_)
<a name="l00163"></a>00163         <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">&quot;Lower bound cannot be larger than upper bound for a discrete space&quot;</span>);
<a name="l00164"></a>00164     <a class="code" href="classompl_1_1base_1_1StateSpace.html#a62881b1915544da2e2843008da5f1109" title="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. It is safe to call this function multiple times.">StateSpace::setup</a>();
<a name="l00165"></a>00165 }
<a name="l00166"></a>00166 
<a name="l00167"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#ae659ee971f00c53002fc73384db0aaa6">00167</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#ae659ee971f00c53002fc73384db0aaa6" title="Print a state to a stream.">ompl::base::DiscreteStateSpace::printState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, std::ostream &amp;out)<span class="keyword"> const</span>
<a name="l00168"></a>00168 <span class="keyword"></span>{
<a name="l00169"></a>00169     out &lt;&lt; <span class="stringliteral">&quot;DiscreteState [&quot;</span>;
<a name="l00170"></a>00170     <span class="keywordflow">if</span> (state)
<a name="l00171"></a>00171         out &lt;&lt; state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1DiscreteStateSpace_1_1StateType.html" title="The definition of a discrete state.">StateType</a>&gt;()-&gt;value;
<a name="l00172"></a>00172     <span class="keywordflow">else</span>
<a name="l00173"></a>00173         out &lt;&lt; <span class="stringliteral">&quot;NULL&quot;</span>;
<a name="l00174"></a>00174     out &lt;&lt; <span class="charliteral">&#39;]&#39;</span> &lt;&lt; std::endl;
<a name="l00175"></a>00175 }
<a name="l00176"></a>00176 
<a name="l00177"></a><a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#acafc4e5db93a4ff66a8a1c5461f84229">00177</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1DiscreteStateSpace.html#acafc4e5db93a4ff66a8a1c5461f84229" title="Print the settings for this state space to a stream.">ompl::base::DiscreteStateSpace::printSettings</a>(std::ostream &amp;out)<span class="keyword"> const</span>
<a name="l00178"></a>00178 <span class="keyword"></span>{
<a name="l00179"></a>00179     out &lt;&lt; <span class="stringliteral">&quot;Discrete state space &#39;&quot;</span> &lt;&lt; getName() &lt;&lt; <span class="stringliteral">&quot;&#39; with bounds [&quot;</span> &lt;&lt; lowerBound_ &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; upperBound_ &lt;&lt; <span class="stringliteral">&quot;]&quot;</span> &lt;&lt; std::endl;
<a name="l00180"></a>00180 }
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