PropositionalDecomposition.h
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34 
35 /* Author: Matt Maly */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_LTL_PROPOSITIONALDECOMPOSITION_
38 #define OMPL_CONTROL_PLANNERS_LTL_PROPOSITIONALDECOMPOSITION_
39 
40 #include "ompl/base/State.h"
41 #include "ompl/control/planners/syclop/Decomposition.h"
42 #include "ompl/control/planners/ltl/World.h"
43 #include "ompl/util/ClassForward.h"
44 #include "ompl/util/RandomNumbers.h"
45 #include "ompl/base/StateSampler.h"
46 #include <vector>
47 
48 namespace ompl
49 {
50  namespace control
51  {
53 
54  OMPL_CLASS_FORWARD(PropositionalDecomposition);
56 
64  {
65  public:
69 
71  ~PropositionalDecomposition() override;
72 
74  virtual World worldAtRegion(int rid) = 0;
75 
76  /* \todo section off the below methods with a general description of
77  "wrapper methods that simply call the underlying decomposition */
78 
81  int getNumRegions() const override;
82 
84  virtual int getNumProps() const = 0;
85 
87  double getRegionVolume(int rid) override;
88 
91  int locateRegion(const base::State *s) const override;
92 
93  void project(const base::State *s, std::vector<double> &coord) const override;
94 
95  void getNeighbors(int rid, std::vector<int> &neighbors) const override;
96 
97  void sampleFromRegion(int rid, RNG &rng, std::vector<double> &coord) const override;
98 
99  void sampleFullState(const base::StateSamplerPtr &sampler, const std::vector<double> &coord,
100  base::State *s) const override;
101 
102  protected:
103  DecompositionPtr decomp_;
104  };
105  }
106 }
107 #endif
virtual int getNumProps() const =0
Returns the number of propositions in this propositional decomposition.
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.
A class to represent an assignment of boolean values to propositions. A World can be partially restri...
Definition: World.h:71
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
virtual World worldAtRegion(int rid)=0
Returns the World corresponding to a given region.
A propositional decomposition wraps a given Decomposition with a region-to-proposition assignment ope...
double getRegionVolume(int rid) override
Returns the volume of a given region.
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
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.