KoulesDecomposition.h
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34 
35 /* Author: Mark Moll */
36 
37 #ifndef DEMOS_KOULES_DECOMPOSITION_
38 #define DEMOS_KOULES_DECOMPOSITION_
39 
40 #include <ompl/control/planners/syclop/GridDecomposition.h>
41 
43 {
44 public:
45  // 16 x 16 x 16 grid
47  : GridDecomposition(16, 3, bounds3(space->as<KoulesStateSpace>()->getBounds()))
48  {
49  }
51  {
53  std::copy(bounds.low.begin(), bounds.low.begin() + 3, b.low.begin());
54  std::copy(bounds.high.begin(), bounds.high.begin() + 3, b.high.begin());
55  return b;
56  }
57  void project(const ompl::base::State *s, std::vector<double> &coord) const override
58  {
59  const double* pos = s->as<ompl::base::RealVectorStateSpace::StateType>()->values;
60  coord.resize(3);
61  coord[0] = pos[0];
62  coord[1] = pos[1];
63  coord[2] = pos[2];
64  }
65 
67  const std::vector<double>& coord, ompl::base::State *s) const override
68  {
69  double* pos = s->as<ompl::base::RealVectorStateSpace::StateType>()->values;
70  sampler->sampleUniform(s);
71  pos[0] = coord[0];
72  pos[1] = coord[1];
73  pos[2] = coord[2];
74  }
75 };
76 
77 #endif
std::vector< double > low
Lower bound.
A shared pointer wrapper for ompl::base::StateSpace.
A shared pointer wrapper for ompl::base::StateSampler.
A GridDecomposition is a Decomposition implemented using a grid.
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66
std::vector< double > high
Upper bound.
void sampleFullState(const ompl::base::StateSamplerPtr &sampler, const std::vector< double > &coord, ompl::base::State *s) const override
Samples a State using a projected coordinate and a StateSampler.
Definition of an abstract state.
Definition: State.h:49
GridDecomposition(int len, int dim, const base::RealVectorBounds &b)
Constructor. Creates a GridDecomposition as a hypercube with a given dimension, side length...
The lower and upper bounds for an Rn space.
void project(const ompl::base::State *s, std::vector< double > &coord) const override
Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition...