PropositionalDecomposition.cpp
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34 
35 /* Author: Matt Maly */
36 
37 #include "ompl/control/planners/ltl/PropositionalDecomposition.h"
38 #include "ompl/base/State.h"
39 #include "ompl/control/planners/syclop/Decomposition.h"
40 #include "ompl/control/planners/ltl/World.h"
41 #include "ompl/util/ClassForward.h"
42 #include "ompl/util/RandomNumbers.h"
43 #include "ompl/base/StateSampler.h"
44 #include <vector>
45 
47  : Decomposition(decomp->getDimension(), decomp->getBounds()), decomp_(decomp)
48 {
49 }
50 
52 
54 {
55  return decomp_->getNumRegions();
56 }
57 
59 {
60  return decomp_->getRegionVolume(rid);
61 }
62 
64 {
65  return decomp_->locateRegion(s);
66 }
67 
68 void ompl::control::PropositionalDecomposition::project(const base::State *s, std::vector<double> &coord) const
69 {
70  return decomp_->project(s, coord);
71 }
72 
73 void ompl::control::PropositionalDecomposition::getNeighbors(int rid, std::vector<int> &neighbors) const
74 {
75  decomp_->getNeighbors(rid, neighbors);
76 }
77 
78 void ompl::control::PropositionalDecomposition::sampleFromRegion(int rid, RNG &rng, std::vector<double> &coord) const
79 {
80  decomp_->sampleFromRegion(rid, rng, coord);
81 }
82 
84  const std::vector<double> &coord, base::State *s) const
85 {
86  decomp_->sampleFullState(sampler, coord, s);
87 }
int getNumRegions() const override
Returns the number of regions in this propositional decomposition&#39;s underlying decomposition.
void sampleFromRegion(int rid, RNG &rng, std::vector< double > &coord) const override
Samples a projected coordinate from a given region.
~PropositionalDecomposition() override
Clears all memory belonging to this propositional decomposition.
void project(const 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...
A shared pointer wrapper for ompl::base::StateSampler.
int locateRegion(const base::State *s) const override
Returns the region of the underlying decomposition that contains a given State.
A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are ...
Definition: Decomposition.h:62
double getRegionVolume(int rid) override
Returns the volume of a given region.
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
Definition of an abstract state.
Definition: State.h:49
PropositionalDecomposition(const DecompositionPtr &decomp)
Creates a propositional decomposition wrapped around a given decomposition with a given number of pro...
A shared pointer wrapper for ompl::control::Decomposition.
void sampleFullState(const base::StateSamplerPtr &sampler, const std::vector< double > &coord, base::State *s) const override
Samples a State using a projected coordinate and a StateSampler.
void getNeighbors(int rid, std::vector< int > &neighbors) const override
Stores a given region&#39;s neighbors into a given vector.