PropositionalTriangularDecomposition.h
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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  {
58  class PropositionalTriangularDecomposition : public PropositionalDecomposition
59  {
60  public:
61  using Polygon = TriangularDecomposition::Polygon;
62  using Vertex = TriangularDecomposition::Vertex;
63 
70  PropositionalTriangularDecomposition(const base::RealVectorBounds &bounds,
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
int getNumProps() const override
Returns the number of propositions in this propositional decomposition.
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....
World worldAtRegion(int triID) override
Returns the World corresponding to a given region.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21