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GridDecomposition.h
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34
35/* Author: Matt Maly */
36
37#ifndef OMPL_CONTROL_PLANNERS_SYCLOP_GRIDDECOMPOSITION_
38#define OMPL_CONTROL_PLANNERS_SYCLOP_GRIDDECOMPOSITION_
39
40#include <cstdlib>
41#include <memory>
42#include <unordered_map>
43#include "ompl/base/spaces/RealVectorBounds.h"
44#include "ompl/base/State.h"
45#include "ompl/control/planners/syclop/Decomposition.h"
46#include "ompl/util/RandomNumbers.h"
47
48namespace ompl
49{
50 namespace control
51 {
54 {
55 public:
60 GridDecomposition(int len, int dim, const base::RealVectorBounds &b);
61
62 ~GridDecomposition() override = default;
63
64 int getNumRegions() const override
65 {
66 return numGridCells_;
67 }
68
69 double getRegionVolume(int /*rid*/) override
70 {
71 return cellVolume_;
72 }
73
74 void getNeighbors(int rid, std::vector<int> &neighbors) const override;
75
76 int locateRegion(const base::State *s) const override;
77
78 void sampleFromRegion(int rid, RNG &rng, std::vector<double> &coord) const override;
79
80 protected:
82 virtual const base::RealVectorBounds &getRegionBounds(int rid) const;
83
85 void regionToGridCoord(int rid, std::vector<int> &coord) const;
86
88 int gridCoordToRegion(const std::vector<int> &coord) const;
89
91 int coordToRegion(const std::vector<double> &coord) const;
92
94 void coordToGridCoord(const std::vector<double> &coord, std::vector<int> &gridCoord) const;
95
97 void computeGridNeighbors(int rid, std::vector<int> &neighbors) const;
98
100 void computeGridNeighborsSub(const std::vector<int> &coord, std::vector<int> &neighbors, int dim,
101 std::vector<int> &candidate) const;
102
103 int length_;
104 double cellVolume_;
105 mutable std::unordered_map<int, std::shared_ptr<base::RealVectorBounds>> regToBounds_;
106
107 private:
108 const int numGridCells_;
109 };
110 }
111}
112#endif
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
The lower and upper bounds for an Rn space.
Definition of an abstract state.
Definition State.h:50
A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are ...
A GridDecomposition is a Decomposition implemented using a grid.
double getRegionVolume(int) override
Returns the volume of a given region in this Decomposition.
void computeGridNeighbors(int rid, std::vector< int > &neighbors) const
Computes the neighbors of the given region in a n-dimensional grid.
void computeGridNeighborsSub(const std::vector< int > &coord, std::vector< int > &neighbors, int dim, std::vector< int > &candidate) const
int locateRegion(const base::State *s) const override
Returns the index of the region containing a given State. Most often, this is obtained by first calli...
int gridCoordToRegion(const std::vector< int > &coord) const
Converts the given grid coordinate to its corresponding region ID.
int coordToRegion(const std::vector< double > &coord) const
Converts a decomposition space coordinate to the ID of the region that contains iit.
void regionToGridCoord(int rid, std::vector< int > &coord) const
Converts a given region to a coordinate in the grid.
void sampleFromRegion(int rid, RNG &rng, std::vector< double > &coord) const override
Samples a projected coordinate from a given region.
void getNeighbors(int rid, std::vector< int > &neighbors) const override
Stores a given region's neighbors into a given vector.
GridDecomposition(int len, int dim, const base::RealVectorBounds &b)
Constructor. Creates a GridDecomposition as a hypercube with a given dimension, side length,...
int getNumRegions() const override
Returns the number of regions in this Decomposition.
virtual const base::RealVectorBounds & getRegionBounds(int rid) const
Helper method to return the bounds of a given region.
void coordToGridCoord(const std::vector< double > &coord, std::vector< int > &gridCoord) const
Converts a decomposition space coordinate to a grid coordinate.
Main namespace. Contains everything in this library.