ompl::control::PropositionalDecomposition Class Referenceabstract

A propositional decomposition wraps a given Decomposition with a region-to-proposition assignment operator. Each region in the decomposition has a corresponding World. More...

#include <ompl/control/planners/ltl/PropositionalDecomposition.h>

Inheritance diagram for ompl::control::PropositionalDecomposition:

Public Member Functions

 PropositionalDecomposition (const DecompositionPtr &decomp)
 Creates a propositional decomposition wrapped around a given decomposition with a given number of propositions.
 
 ~PropositionalDecomposition () override
 Clears all memory belonging to this propositional decomposition.
 
virtual World worldAtRegion (int rid)=0
 Returns the World corresponding to a given region.
 
int getNumRegions () const override
 Returns the number of regions in this propositional decomposition's underlying decomposition.
 
virtual int getNumProps () const =0
 Returns the number of propositions in this propositional decomposition.
 
double getRegionVolume (int rid) override
 Returns the volume of a given region.
 
int locateRegion (const base::State *s) const override
 Returns the region of the underlying decomposition that contains a given State.
 
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.
 
void getNeighbors (int rid, std::vector< int > &neighbors) const override
 Stores a given region's neighbors into a given vector.
 
void sampleFromRegion (int rid, RNG &rng, std::vector< double > &coord) const override
 Samples a projected coordinate from a given region.
 
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.
 
- Public Member Functions inherited from ompl::control::Decomposition
 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 getDimension () const
 Returns the dimension of this Decomposition.
 
virtual const base::RealVectorBoundsgetBounds () const
 Returns the bounds of this Decomposition.
 

Protected Attributes

DecompositionPtr decomp_
 
- Protected Attributes inherited from ompl::control::Decomposition
int dimension_
 
base::RealVectorBounds bounds_
 

Detailed Description

A propositional decomposition wraps a given Decomposition with a region-to-proposition assignment operator. Each region in the decomposition has a corresponding World.

Definition at line 63 of file PropositionalDecomposition.h.


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