Decomposition.h

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/* Author: Matt Maly */
 
#ifndef OMPL_CONTROL_PLANNERS_SYCLOP_DECOMPOSITION_
#define OMPL_CONTROL_PLANNERS_SYCLOP_DECOMPOSITION_
 
#include "ompl/base/spaces/RealVectorBounds.h"
#include "ompl/base/StateSampler.h"
#include "ompl/base/State.h"
#include "ompl/util/Console.h"
#include "ompl/util/Exception.h"
#include "ompl/util/ClassForward.h"
#include "ompl/util/RandomNumbers.h"
 
namespace ompl
{
    namespace control
    {

        OMPL_CLASS_FORWARD(Decomposition);


        class Decomposition
        {
        public:
            Decomposition(int dim, const base::RealVectorBounds &b) : dimension_(dim), bounds_(b)
            {
                if (dim > static_cast<int>(b.low.size()))
                    throw Exception("Decomposition", "argument 'dim' exceeds dimension of given bounds");
                else if (dim < static_cast<int>(b.low.size()))
                    OMPL_WARN("Decomposition: dimension of given bounds exceeds argument 'dim'. Using the first 'dim' "
                              "values of bounds");
            }
 
            virtual ~Decomposition() = default;

            virtual int getNumRegions() const = 0;

            virtual int getDimension() const
            {
                return dimension_;
            }

            virtual const base::RealVectorBounds &getBounds() const
            {
                return bounds_;
            }

            virtual double getRegionVolume(int rid) = 0;

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

            virtual void project(const base::State *s, std::vector<double> &coord) const = 0;

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

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

            virtual void sampleFullState(const base::StateSamplerPtr &sampler, const std::vector<double> &coord,
                                         base::State *s) const = 0;
 
        protected:
            int dimension_;
            base::RealVectorBounds bounds_;
        };
    }  // namespace control
}  // namespace ompl
#endif