ompl::control::Decomposition Class Referenceabstract

A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are denoted by integers. More...

`#include <ompl/control/planners/syclop/Decomposition.h>`

Inheritance diagram for ompl::control::Decomposition:

## Public Member Functions | |

Decomposition (int dim, const base::RealVectorBounds &b) | |

Constructor. Creates a Decomposition with a given dimension and a given set of bounds. Accepts as an optional argument a given number of regions. | |

virtual int | getNumRegions () const =0 |

Returns the number of regions in this Decomposition. | |

virtual int | getDimension () const |

Returns the dimension of this Decomposition. | |

virtual const base::RealVectorBounds & | getBounds () const |

Returns the bounds of this Decomposition. | |

virtual double | getRegionVolume (int rid)=0 |

Returns the volume of a given region in this Decomposition. | |

virtual int | locateRegion (const base::State *s) const =0 |

Returns the index of the region containing a given State. Most often, this is obtained by first calling project(). Returns -1 if no region contains the State. | |

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. | |

virtual void | getNeighbors (int rid, std::vector< int > &neighbors) const =0 |

Stores a given region's neighbors into a given vector. | |

virtual void | sampleFromRegion (int rid, RNG &rng, std::vector< double > &coord) const =0 |

Samples a projected coordinate from a given region. | |

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. | |

## Protected Attributes | |

int | dimension_ |

base::RealVectorBounds | bounds_ |

## Detailed Description

A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are denoted by integers.

Definition at line 62 of file Decomposition.h.

The documentation for this class was generated from the following file:

- ompl/control/planners/syclop/Decomposition.h