ompl::control::PropositionalTriangularDecomposition Class Reference

A PropositionalTriangularDecomposition is a triangulation that ignores obstacles and respects propositional regions of interest. Practically speaking, it is both a TriangularDecomposition and a PropositionalDecomposition, but it is implemented without using multiple inheritance. More...

#include <ompl/extensions/triangle/PropositionalTriangularDecomposition.h>

Inheritance diagram for ompl::control::PropositionalTriangularDecomposition:

Public Types

using Polygon = TriangularDecomposition::Polygon
 
using Vertex = TriangularDecomposition::Vertex
 

Public Member Functions

 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. The underlying mesh will be a conforming Delaunay triangulation. The triangulation will ignore any obstacles, given as a list of polygons. The triangulation will respect the boundaries of any propositional regions of interest, given as a list of polygons.
 
int getNumProps () const override
 Returns the number of propositions in this propositional decomposition.
 
World worldAtRegion (int triID) override
 Returns the World corresponding to a given region.
 
void setup ()
 
void addHole (const Polygon &hole)
 
void addProposition (const Polygon &prop)
 
const std::vector< Polygon > & getHoles () const
 
const std::vector< Polygon > & getPropositions () const
 
void print (std::ostream &out) const
 
- Public Member Functions inherited from ompl::control::PropositionalDecomposition
 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.
 
int getNumRegions () const override
 Returns the number of regions in this propositional decomposition's underlying 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

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

Detailed Description

A PropositionalTriangularDecomposition is a triangulation that ignores obstacles and respects propositional regions of interest. Practically speaking, it is both a TriangularDecomposition and a PropositionalDecomposition, but it is implemented without using multiple inheritance.

Definition at line 58 of file PropositionalTriangularDecomposition.h.


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