A TriangularDecomposition is a triangulation that ignores obstacles. More...

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

Inheritance diagram for ompl::control::TriangularDecomposition:

Classes
struct	Polygon

struct	Triangle

struct	Vertex

Public Member Functions
	TriangularDecomposition (const base::RealVectorBounds &bounds, std::vector< Polygon > holes=std::vector< Polygon >(), std::vector< Polygon > intRegs=std::vector< Polygon >())
	Creates a TriangularDecomposition 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 regions of interest, given as a list of polygons. No two obstacles may overlap, and no two regions of interest may overlap.

int	getNumRegions () const override
	Returns the number of regions in this Decomposition.

double	getRegionVolume (int triID) override
	Returns the volume of a given region in this Decomposition.

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

int	locateRegion (const base::State *s) const override
	Returns the index of the region containing a given State. Most often, this is obtained by first calling project(). Returns -1 if no region contains the State.

void	sampleFromRegion (int triID, RNG &rng, std::vector< double > &coord) const override
	Samples a projected coordinate from a given region.

void	setup ()

void	addHole (const Polygon &hole)

void	addRegionOfInterest (const Polygon &region)

int	getNumHoles () const

int	getNumRegionsOfInterest () const

const std::vector< Polygon > &	getHoles () const

const std::vector< Polygon > &	getAreasOfInterest () const

int	getRegionOfInterestAt (int triID) const
	Returns the region of interest that contains the given triangle ID. Returns -1 if the triangle ID is not within a region of interest.

void	print (std::ostream &out) const

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::RealVectorBounds &	getBounds () const
	Returns the bounds of this Decomposition.

virtual void	project (const base::State *s, std::vector< double > &coord) const =0
	Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition.

virtual void	sampleFullState (const base::StateSamplerPtr &sampler, const std::vector< double > &coord, base::State *s) const =0
	Samples a State using a projected coordinate and a StateSampler.

Protected Member Functions
virtual int	createTriangles ()
	Helper method to triangulate the space and return the number of triangles.

Protected Attributes
std::vector< Triangle >	triangles_

std::vector< Polygon >	holes_

std::vector< Polygon >	intRegs_

std::vector< int >	intRegInfo_
	Maps from triangle ID to index of Polygon in intReg_ that contains the triangle ID. Maps to -1 if the triangle ID is not in a region of interest.

double	triAreaPct_

Protected Attributes inherited from ompl::control::Decomposition
int	dimension_

base::RealVectorBounds	bounds_

Detailed Description

A TriangularDecomposition is a triangulation that ignores obstacles.

Definition at line 119 of file TriangularDecomposition.h.

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

ompl/extensions/triangle/TriangularDecomposition.h
ompl/extensions/triangle/src/TriangularDecomposition.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description