PropositionalTriangularDecomposition.cpp
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34 
35 /* Author: Matt Maly */
36 
37 #include "ompl/extensions/triangle/PropositionalTriangularDecomposition.h"
38 #include "ompl/extensions/triangle/TriangularDecomposition.h"
39 #include "ompl/control/planners/ltl/PropositionalDecomposition.h"
40 #include "ompl/control/planners/ltl/World.h"
41 #include "ompl/util/RandomNumbers.h"
42 #include "ompl/base/State.h"
43 #include "ompl/base/StateSampler.h"
44 #include "ompl/base/spaces/RealVectorBounds.h"
45 #include <ostream>
46 #include <set>
47 #include <vector>
48 
49 namespace ob = ompl::base;
50 namespace oc = ompl::control;
51 
52 namespace
53 {
54  /* PropositionalTriangularDecomposition creates a WrapperDecomposition under-the-hood
55  (which represents a triangulation over the given bounds that uses
56  PropositionalTriangularDecomposition's user-defined project and sample methods)
57  and hands it upward to the PropositionalDecomposition superclass constructor. */
58  class WrapperDecomposition : public oc::TriangularDecomposition
59  {
60  public:
61  using Polygon = TriangularDecomposition::Polygon;
62  using Vertex = TriangularDecomposition::Vertex;
63  WrapperDecomposition(const oc::Decomposition *decomp, const ob::RealVectorBounds &bounds,
64  const std::vector<Polygon> &holes, const std::vector<Polygon> &props);
65  ~WrapperDecomposition() override = default;
66  void project(const ob::State *s, std::vector<double> &coord) const override;
67  void sampleFromRegion(int rid, ompl::RNG &rng, std::vector<double> &coord) const override;
68  void sampleFullState(const ob::StateSamplerPtr &sampler, const std::vector<double> &coord,
69  ob::State *s) const override;
70 
71  protected:
72  const oc::Decomposition *decomp_;
73  };
74 }
75 
77  const std::vector<Polygon> &holes,
78  const std::vector<Polygon> &props)
79  : PropositionalDecomposition(std::make_shared<WrapperDecomposition>(this, bounds, holes, props))
80  , triDecomp_(static_cast<TriangularDecomposition *>(decomp_.get()))
81 {
82 }
83 
85 {
86  return triDecomp_->getNumRegionsOfInterest();
87 }
88 
90 {
91  int numProps = getNumProps();
92  World world(numProps);
93  for (int p = 0; p < numProps; ++p)
94  world[p] = false;
95  if (triID == -1)
96  return world;
97  int prop = triDecomp_->getRegionOfInterestAt(triID);
98  if (prop >= 0)
99  world[prop] = true;
100  return world;
101 }
102 
103 void oc::PropositionalTriangularDecomposition::setup()
104 {
105  triDecomp_->setup();
106 }
107 
108 void oc::PropositionalTriangularDecomposition::addHole(const Polygon &hole)
109 {
110  triDecomp_->addHole(hole);
111 }
112 
113 void oc::PropositionalTriangularDecomposition::addProposition(const Polygon &prop)
114 {
115  triDecomp_->addRegionOfInterest(prop);
116 }
117 
118 const std::vector<oc::PropositionalTriangularDecomposition::Polygon> &
119 oc::PropositionalTriangularDecomposition::getHoles() const
120 {
121  return triDecomp_->getHoles();
122 }
123 
124 const std::vector<oc::PropositionalTriangularDecomposition::Polygon> &
125 oc::PropositionalTriangularDecomposition::getPropositions() const
126 {
127  return triDecomp_->getAreasOfInterest();
128 }
129 
130 void oc::PropositionalTriangularDecomposition::print(std::ostream &out) const
131 {
132  triDecomp_->print(out);
133 }
134 
135 namespace
136 {
137  WrapperDecomposition::WrapperDecomposition(const oc::Decomposition *decomp, const ob::RealVectorBounds &bounds,
138  const std::vector<Polygon> &holes, const std::vector<Polygon> &props)
139  : oc::TriangularDecomposition(bounds, holes, props), decomp_(decomp)
140  {
141  }
142 
143  void WrapperDecomposition::project(const ob::State *s, std::vector<double> &coord) const
144  {
145  decomp_->project(s, coord);
146  }
147 
148  void WrapperDecomposition::sampleFromRegion(int rid, ompl::RNG &rng, std::vector<double> &coord) const
149  {
150  decomp_->sampleFromRegion(rid, rng, coord);
151  }
152 
153  void WrapperDecomposition::sampleFullState(const ob::StateSamplerPtr &sampler, const std::vector<double> &coord,
154  ob::State *s) const
155  {
156  decomp_->sampleFullState(sampler, coord, s);
157  }
158 }
A TriangularDecomposition is a triangulation that ignores obstacles.
A class to represent an assignment of boolean values to propositions. A World can be partially restri...
Definition: World.h:71
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition: Control.h:44
int getRegionOfInterestAt(int triID) const
Returns the region of interest that contains the given triangle ID. Returns -1 if the triangle ID is ...
A shared pointer wrapper for ompl::base::StateSampler.
World worldAtRegion(int triID) override
Returns the World corresponding to a given region.
STL namespace.
A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are ...
Definition: Decomposition.h:62
A propositional decomposition wraps a given Decomposition with a region-to-proposition assignment ope...
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.
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
int getNumProps() const override
Returns the number of propositions in this propositional decomposition.
Definition of an abstract state.
Definition: State.h:49
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: Cost.h:44
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 lower and upper bounds for an Rn space.
PropositionalTriangularDecomposition(const base::RealVectorBounds &bounds, const std::vector< Polygon > &holes=std::vector< Polygon >(), const std::vector< Polygon > &props=std::vector< Polygon >())
Creates a PropositionalTriangularDecomposition over the given bounds, which must be 2-dimensional...
void sampleFromRegion(int triID, RNG &rng, std::vector< double > &coord) const override
Samples a projected coordinate from a given region.