PropositionalTriangularDecomposition.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2013, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Matt Maly */
36 
37 #ifndef OMPL_EXTENSIONS_TRIANGLE_PROPOSITIONALTRIANGULARDECOMPOSITION_
38 #define OMPL_EXTENSIONS_TRIANGLE_PROPOSITIONALTRIANGULARDECOMPOSITION_
39 
40 #include "ompl/extensions/triangle/TriangularDecomposition.h"
41 #include "ompl/control/planners/ltl/PropositionalDecomposition.h"
42 #include "ompl/control/planners/ltl/World.h"
43 #include "ompl/util/RandomNumbers.h"
44 #include "ompl/base/State.h"
45 #include "ompl/base/StateSampler.h"
46 #include "ompl/base/spaces/RealVectorBounds.h"
47 #include <ostream>
48 #include <vector>
49 
50 namespace ompl
51 {
52  namespace control
53  {
59  {
60  public:
63 
71  const std::vector<Polygon> &holes = std::vector<Polygon>(),
72  const std::vector<Polygon> &props = std::vector<Polygon>());
73 
74  ~PropositionalTriangularDecomposition() override = default;
75 
76  int getNumProps() const override;
77 
78  World worldAtRegion(int triID) override;
79 
80  void setup();
81 
82  void addHole(const Polygon &hole);
83 
84  void addProposition(const Polygon &prop);
85 
86  const std::vector<Polygon> &getHoles() const;
87 
88  const std::vector<Polygon> &getPropositions() const;
89 
90  // Debug method: prints this decomposition as a list of polygons
91  void print(std::ostream &out) const;
92 
93  protected:
94  TriangularDecomposition *triDecomp_;
95  };
96  }
97 }
98 #endif
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
World worldAtRegion(int triID) override
Returns the World corresponding to a given region.
A propositional decomposition wraps a given Decomposition with a region-to-proposition assignment ope...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
int getNumProps() const override
Returns the number of propositions in this propositional decomposition.
A PropositionalTriangularDecomposition is a triangulation that ignores obstacles and respects proposi...
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...