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XXLDecomposition.h
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34
35/* Author: Ryan Luna */
36
37#ifndef OMPL_GEOMETRIC_PLANNERS_XXL_XXLDECOMPOSITION_
38#define OMPL_GEOMETRIC_PLANNERS_XXL_XXLDECOMPOSITION_
39
40#include <vector>
41#include "ompl/base/State.h"
42#include "ompl/base/spaces/RealVectorBounds.h"
43#include "ompl/util/ClassForward.h"
44#include "ompl/util/Console.h"
45
46namespace ompl
47{
48 namespace geometric
49 {
51
52 OMPL_CLASS_FORWARD(XXLDecomposition);
54
60 {
61 public:
64 {
65 }
66
67 virtual ~XXLDecomposition()
68 {
69 }
70
72 virtual int getNumRegions() const = 0;
73
75 virtual int getDimension() const = 0;
76
78 virtual int numLayers() const = 0;
79
83 virtual int locateRegion(const base::State *s) const = 0;
84
86 virtual int locateRegion(const std::vector<double> &coord) const = 0;
87
89 virtual void getNeighbors(int rid, std::vector<int> &neighbors) const = 0;
90
95 virtual void getNeighborhood(int rid, std::vector<int> &neighborhood) const
96 {
97 return getNeighbors(rid, neighborhood);
98 }
99
101 virtual double distanceHeuristic(int r1, int r2) const = 0;
102
104 virtual bool sampleFromRegion(int r, base::State *s, const base::State *seed = nullptr) const = 0;
105
107 virtual bool sampleFromRegion(int r, base::State *s, const base::State *seed, int layer) const = 0;
108
110 virtual void project(const base::State *s, std::vector<double> &coord, int layer = 0) const = 0;
111
113 virtual void project(const base::State *s, std::vector<int> &layers) const = 0;
114
116 virtual bool canSteer() const
117 {
118 return false;
119 }
120
121 virtual bool steerToRegion(int /*r*/, int /*layer*/, const ompl::base::State * /*start*/,
122 std::vector<ompl::base::State *> & /*states*/) const
123 {
124 OMPL_ERROR("steerToRegion has no default implementation");
125 return false;
126 }
127 };
128 } // namespace geometric
129} // namespace ompl
130#endif
Definition of an abstract state.
Definition State.h:50
virtual bool sampleFromRegion(int r, base::State *s, const base::State *seed, int layer) const =0
Sample a state s from region r in the given layer.
virtual void getNeighborhood(int rid, std::vector< int > &neighborhood) const
Return a list of regions in the neighborhood of rid. This method is intended to retrieve all regions ...
virtual void project(const base::State *s, std::vector< int > &layers) const =0
Project the state into the decomposition and retrieve the region for all valid layers.
virtual int locateRegion(const std::vector< double > &coord) const =0
Return the region that this coordinate lies in. Returns -1 if this coord is out of bounds.
virtual int getDimension() const =0
Return the dimension of this XXLDecomposition.
virtual bool sampleFromRegion(int r, base::State *s, const base::State *seed=nullptr) const =0
Sample a state s from region r in layer 0.
virtual int numLayers() const =0
Return the number of layers possible in this decomposition. Must be at least 1.
virtual void getNeighbors(int rid, std::vector< int > &neighbors) const =0
Stores the given region's neighbors into a given vector. These are adjacent neighbors.
virtual void project(const base::State *s, std::vector< double > &coord, int layer=0) const =0
Project the given State into the XXLDecomposition.
virtual int getNumRegions() const =0
Returns the number of regions in this XXLDecomposition.
virtual double distanceHeuristic(int r1, int r2) const =0
An admissible and consistent distance heuristic between two regions.
virtual bool canSteer() const
Returns true if the method steerToRegion is available.
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 calli...
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition Console.h:64
Main namespace. Contains everything in this library.