Decomposition.h
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34 
35 /* Author: Matt Maly */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_DECOMPOSITION_
38 #define OMPL_CONTROL_PLANNERS_SYCLOP_DECOMPOSITION_
39 
40 #include "ompl/base/spaces/RealVectorBounds.h"
41 #include "ompl/base/StateSampler.h"
42 #include "ompl/base/State.h"
43 #include "ompl/util/Console.h"
44 #include "ompl/util/Exception.h"
45 #include "ompl/util/ClassForward.h"
46 #include "ompl/util/RandomNumbers.h"
47 
48 namespace ompl
49 {
50  namespace control
51  {
53 
54  OMPL_CLASS_FORWARD(Decomposition);
56 
63  {
64  public:
68  Decomposition(int dim, const base::RealVectorBounds &b) : dimension_(dim), bounds_(b)
69  {
70  if (dim > static_cast<int>(b.low.size()))
71  throw Exception("Decomposition", "argument 'dim' exceeds dimension of given bounds");
72  else if (dim < static_cast<int>(b.low.size()))
73  OMPL_WARN("Decomposition: dimension of given bounds exceeds argument 'dim'. Using the first 'dim' "
74  "values of bounds");
75  }
76 
77  virtual ~Decomposition() = default;
78 
80  virtual int getNumRegions() const = 0;
81 
83  virtual int getDimension() const
84  {
85  return dimension_;
86  }
87 
89  virtual const base::RealVectorBounds &getBounds() const
90  {
91  return bounds_;
92  }
93 
95  virtual double getRegionVolume(int rid) = 0;
96 
100  virtual int locateRegion(const base::State *s) const = 0;
101 
104  virtual void project(const base::State *s, std::vector<double> &coord) const = 0;
105 
107  virtual void getNeighbors(int rid, std::vector<int> &neighbors) const = 0;
108 
110  virtual void sampleFromRegion(int rid, RNG &rng, std::vector<double> &coord) const = 0;
111 
113  virtual void sampleFullState(const base::StateSamplerPtr &sampler, const std::vector<double> &coord,
114  base::State *s) const = 0;
115 
116  protected:
117  int dimension_;
118  base::RealVectorBounds bounds_;
119  };
120  }
121 }
122 #endif
virtual double getRegionVolume(int rid)=0
Returns the volume of a given region in this Decomposition.
std::vector< double > low
Lower bound.
A shared pointer wrapper for ompl::base::StateSampler.
virtual int getNumRegions() const =0
Returns the number of regions in this Decomposition.
A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are ...
Definition: Decomposition.h:62
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.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
virtual void getNeighbors(int rid, std::vector< int > &neighbors) const =0
Stores a given region&#39;s neighbors into a given vector.
virtual const base::RealVectorBounds & getBounds() const
Returns the bounds of this Decomposition.
Definition: Decomposition.h:89
virtual int getDimension() const
Returns the dimension of this Decomposition.
Definition: Decomposition.h:83
Definition of an abstract state.
Definition: State.h:49
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_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66
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...
The exception type for ompl.
Definition: Exception.h:46
The lower and upper bounds for an Rn space.
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.
Definition: Decomposition.h:68
virtual void sampleFromRegion(int rid, RNG &rng, std::vector< double > &coord) const =0
Samples a projected coordinate from a given region.