Inheritance diagram for PMXXLDecomposition:

Public Member Functions
	PMXXLDecomposition (ompl::base::SpaceInformationPtr si, const PlanarManipulator *manip, const ompl::base::RealVectorBounds &xyBounds, const std::vector< int > &xySlices, const int thetaSlices, std::vector< int > &projectedJoints, bool diagonalEdges)
	Constructor. The end of the links in projectedJoints constitute the different layers to this decomposition.

virtual int	numLayers () const
	Return the number of layers possible in this decomposition. Must be at least 1.

virtual bool	steerToRegion (int r, int layer, const ompl::base::State start, std::vector< ompl::base::State > &states) const

virtual bool	sampleFromRegion (int r, ompl::base::State s, const ompl::base::State seed=nullptr) const
	Sample a valid state s from region r in layer 0.

void	initializePartialManipulator (int layer, const double *seedAngles) const

void	sampleEndEffectorPose (int region, Eigen::Affine2d &pose) const

void	initializePartialSeed (int layer, const double *seedAngles, std::vector< double > &partialSeed) const

bool	sampleRemainingJoints (int layer, ompl::base::State s, const double const seedVals, const std::vector< double > &partialSln) const

virtual bool	sampleFromRegion (int r, ompl::base::State s, const ompl::base::State seed, int layer) const
	Sample a state s from region r in the given layer.

virtual void	project (const ompl::base::State *s, std::vector< double > &coord, int layer=0) const
	Project the given State into the XXLDecomposition.

virtual void	project (const ompl::base::State *s, std::vector< int > &layers) const
	Project the state into the decomposition and retrieve the region for all valid layers.

Public Member Functions inherited from ompl::geometric::XXLPlanarDecomposition
	XXLPlanarDecomposition (const base::RealVectorBounds &xyBounds, const std::vector< int > &xySlices, const int thetaSlices, bool diagonalEdges=false)

	XXLPlanarDecomposition (const base::RealVectorBounds &xyBounds, const std::vector< int > &xySlices, const int thetaSlices, double thetaLowerBound, double thetaUpperBound, bool diagonalEdges=false)

virtual int	getNumRegions () const
	Return the total number of regions in this decomposition.

virtual int	getDimension () const
	Return the dimension of this HiLoDecomposition.

virtual int	locateRegion (const base::State *s) const
	Return the id of the region that this state falls in.

virtual int	locateRegion (const std::vector< double > &coord) const
	Return the id of the region that this coordinate falls in.

virtual void	getNeighbors (int rid, std::vector< int > &neighbors) const
	Stores the given region's neighbors into a given vector.

virtual void	getNeighborhood (int rid, std::vector< int > &neighborhood) const
	Stores the given region's neighbors into the vector. This returns the 8-connected grid neighbors of the cell, regardless of whether diagonal edges exist.

virtual double	distanceHeuristic (int r1, int r2) const
	An admissible and consistent distance heuristic between two regions. Manhattan distance on grid.

void	ridToGridCell (int rid, std::vector< int > &cell) const

int	gridCellToRid (const std::vector< int > &cell) const
	Return the region id corresponding to the (discrete) grid cell coordinates.

int	coordToRegion (const std::vector< double > &coord) const
	Return the region id of the given coordinate in the decomposition.

int	coordToRegion (const double *coord) const

bool	hasDiagonalEdges () const
	Return true if the decomposition has diagonal edges.

Public Member Functions inherited from ompl::geometric::XXLDecomposition
	XXLDecomposition ()
	Constructor.

virtual bool	canSteer () const
	Returns true if the method steerToRegion is available.

Static Public Member Functions
static void	frameToPose (const Eigen::Affine2d &frame, Eigen::VectorXd &pose)

Protected Attributes
ompl::base::SpaceInformationPtr	si_

const PlanarManipulator *	manip_

std::vector< PlanarManipulator >	partialManips_

std::vector< int >	projectedJoints_

Protected Attributes inherited from ompl::geometric::XXLPlanarDecomposition
bool	diagonalEdges_

base::RealVectorBounds	xyBounds_

double	thetaLow_ {-boost::math::constants::pi<double>()}

double	thetaHigh_ {boost::math::constants::pi<double>()}

std::vector< int >	xySlices_

int	thetaSlices_

int	numRegions_

double	dx_

double	dy_

double	xSize_

double	ySize_

double	dTheta_

double	thetaSize_

int	dimension_

ompl::RNG	rng_

Additional Inherited Members
Protected Member Functions inherited from ompl::geometric::XXLPlanarDecomposition
void	constructGraph ()

void	getNonDiagonalNeighbors (int rid, std::vector< int > &neighbors) const

void	getDiagonalNeighbors (int rid, std::vector< int > &neighbors) const

void	sampleCoordinateFromRegion (int r, std::vector< double > &coord) const

void	sampleCoordinateFromRegion (int r, double *coord) const

Detailed Description

Definition at line 47 of file PlanarManipulatorXXLDecomposition.h.

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

ompl/demos/PlanarManipulator/PlanarManipulatorXXLDecomposition.h

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description