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>

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. | |
virtual int | getNumRegions () const =0 |
Returns the number of regions in this Decomposition. | |
virtual int | getDimension () const |
Returns the dimension of this Decomposition. | |
virtual const base::RealVectorBounds & | getBounds () const |
Returns the bounds of this Decomposition. | |
virtual double | getRegionVolume (int rid)=0 |
Returns the volume of a given region in this Decomposition. | |
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. | |
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. | |
virtual void | getNeighbors (int rid, std::vector< int > &neighbors) const =0 |
Stores a given region's neighbors into a given vector. | |
virtual void | sampleFromRegion (int rid, RNG &rng, std::vector< double > &coord) const =0 |
Samples a projected coordinate from a given region. | |
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. | |
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()
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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()
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inlinevirtual |
Returns the bounds of this Decomposition.
Definition at line 89 of file Decomposition.h.
◆ getDimension()
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inlinevirtual |
Returns the dimension of this Decomposition.
Definition at line 83 of file Decomposition.h.
◆ getNeighbors()
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pure virtual |
Stores a given region's neighbors into a given vector.
Implemented in ompl::control::GridDecomposition, ompl::control::PropositionalDecomposition, and ompl::control::TriangularDecomposition.
◆ getNumRegions()
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pure virtual |
Returns the number of regions in this Decomposition.
Implemented in ompl::control::GridDecomposition, ompl::control::PropositionalDecomposition, and ompl::control::TriangularDecomposition.
◆ getRegionVolume()
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pure virtual |
Returns the volume of a given region in this Decomposition.
Implemented in ompl::control::GridDecomposition, ompl::control::PropositionalDecomposition, and ompl::control::TriangularDecomposition.
◆ locateRegion()
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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::GridDecomposition, ompl::control::PropositionalDecomposition, and ompl::control::TriangularDecomposition.
◆ project()
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pure virtual |
Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition.
Implemented in KoulesDecomposition, and ompl::control::PropositionalDecomposition.
◆ sampleFromRegion()
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pure virtual |
Samples a projected coordinate from a given region.
Implemented in ompl::control::GridDecomposition, ompl::control::PropositionalDecomposition, and ompl::control::TriangularDecomposition.
◆ sampleFullState()
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pure virtual |
Samples a State using a projected coordinate and a StateSampler.
Implemented in ompl::control::PropositionalDecomposition.
Member Data Documentation
◆ bounds_
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protected |
Definition at line 118 of file Decomposition.h.
◆ dimension_
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protected |
Definition at line 117 of file Decomposition.h.
The documentation for this class was generated from the following file:
- ompl/control/planners/syclop/Decomposition.h