ompl::control::Decomposition Class Referenceabstract

A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are denoted by integers. More...

#include <ompl/control/planners/syclop/Decomposition.h>

Inheritance diagram for ompl::control::Decomposition:

Public Member Functions

 Decomposition (int dim, const base::RealVectorBounds &b)
 Constructor. Creates a Decomposition with a given dimension and a given set of bounds. Accepts as an optional argument a given number of regions. More...
 
virtual int getNumRegions () const =0
 Returns the number of regions in this Decomposition. More...
 
virtual int getDimension () const
 Returns the dimension of this Decomposition. More...
 
virtual const base::RealVectorBoundsgetBounds () const
 Returns the bounds of this Decomposition. More...
 
virtual double getRegionVolume (int rid)=0
 Returns the volume of a given region in this Decomposition. More...
 
virtual int locateRegion (const base::State *s) const =0
 Returns the index of the region containing a given State. Most often, this is obtained by first calling project(). Returns -1 if no region contains the State. More...
 
virtual void project (const base::State *s, std::vector< double > &coord) const =0
 Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition. More...
 
virtual void getNeighbors (int rid, std::vector< int > &neighbors) const =0
 Stores a given region's neighbors into a given vector. More...
 
virtual void sampleFromRegion (int rid, RNG &rng, std::vector< double > &coord) const =0
 Samples a projected coordinate from a given region. More...
 
virtual void sampleFullState (const base::StateSamplerPtr &sampler, const std::vector< double > &coord, base::State *s) const =0
 Samples a State using a projected coordinate and a StateSampler. More...
 

Protected Attributes

int dimension_
 
base::RealVectorBounds bounds_
 

Detailed Description

A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are denoted by integers.

Definition at line 62 of file Decomposition.h.

Constructor & Destructor Documentation

◆ Decomposition()

ompl::control::Decomposition::Decomposition ( int  dim,
const base::RealVectorBounds b 
)
inline

Constructor. Creates a Decomposition with a given dimension and a given set of bounds. Accepts as an optional argument a given number of regions.

Definition at line 68 of file Decomposition.h.

Member Function Documentation

◆ getBounds()

virtual const base::RealVectorBounds & ompl::control::Decomposition::getBounds ( ) const
inlinevirtual

Returns the bounds of this Decomposition.

Definition at line 89 of file Decomposition.h.

◆ getDimension()

virtual int ompl::control::Decomposition::getDimension ( ) const
inlinevirtual

Returns the dimension of this Decomposition.

Definition at line 83 of file Decomposition.h.

◆ getNeighbors()

virtual void ompl::control::Decomposition::getNeighbors ( int  rid,
std::vector< int > &  neighbors 
) const
pure virtual

Stores a given region's neighbors into a given vector.

Implemented in ompl::control::PropositionalDecomposition, ompl::control::GridDecomposition, and ompl::control::TriangularDecomposition.

◆ getNumRegions()

virtual int ompl::control::Decomposition::getNumRegions ( ) const
pure virtual

◆ getRegionVolume()

virtual double ompl::control::Decomposition::getRegionVolume ( int  rid)
pure virtual

◆ locateRegion()

virtual int ompl::control::Decomposition::locateRegion ( const base::State s) const
pure virtual

Returns the index of the region containing a given State. Most often, this is obtained by first calling project(). Returns -1 if no region contains the State.

Implemented in ompl::control::PropositionalDecomposition, ompl::control::GridDecomposition, and ompl::control::TriangularDecomposition.

◆ project()

virtual void ompl::control::Decomposition::project ( const base::State s,
std::vector< double > &  coord 
) const
pure virtual

Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition.

Implemented in ompl::control::PropositionalDecomposition, and KoulesDecomposition.

◆ sampleFromRegion()

virtual void ompl::control::Decomposition::sampleFromRegion ( int  rid,
RNG rng,
std::vector< double > &  coord 
) const
pure virtual

Samples a projected coordinate from a given region.

Implemented in ompl::control::PropositionalDecomposition, ompl::control::GridDecomposition, and ompl::control::TriangularDecomposition.

◆ sampleFullState()

virtual void ompl::control::Decomposition::sampleFullState ( const base::StateSamplerPtr &  sampler,
const std::vector< double > &  coord,
base::State s 
) const
pure virtual

Samples a State using a projected coordinate and a StateSampler.

Implemented in ompl::control::PropositionalDecomposition.

Member Data Documentation

◆ bounds_

base::RealVectorBounds ompl::control::Decomposition::bounds_
protected

Definition at line 118 of file Decomposition.h.

◆ dimension_

int ompl::control::Decomposition::dimension_
protected

Definition at line 117 of file Decomposition.h.


The documentation for this class was generated from the following file: