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

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

Inheritance diagram for ompl::control::TriangularDecomposition:

[legend]

Classes
struct	Vertex
struct	Polygon
struct	Triangle

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 55 of file TriangularDecomposition.h.

Constructor & Destructor Documentation

◆ TriangularDecomposition()

ompl::control::TriangularDecomposition::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.

Definition at line 76 of file TriangularDecomposition.cpp.

Member Function Documentation

◆ addHole()

void ompl::control::TriangularDecomposition::addHole ( const Polygon & hole )

Definition at line 98 of file TriangularDecomposition.cpp.

◆ addRegionOfInterest()

void ompl::control::TriangularDecomposition::addRegionOfInterest ( const Polygon & region )

Definition at line 103 of file TriangularDecomposition.cpp.

◆ createTriangles()

int ompl::control::TriangularDecomposition::createTriangles ( )

protectedvirtual

Helper method to triangulate the space and return the number of triangles.

Definition at line 213 of file TriangularDecomposition.cpp.

◆ getAreasOfInterest()

const std::vector< ompl::control::TriangularDecomposition::Polygon > & ompl::control::TriangularDecomposition::getAreasOfInterest ( ) const

Definition at line 125 of file TriangularDecomposition.cpp.

◆ getHoles()

const std::vector< ompl::control::TriangularDecomposition::Polygon > & ompl::control::TriangularDecomposition::getHoles ( ) const

Definition at line 119 of file TriangularDecomposition.cpp.

◆ getNeighbors()

void ompl::control::TriangularDecomposition::getNeighbors	(	int	rid,
		std::vector< int > &	neighbors ) const

overridevirtual

Stores a given region's neighbors into a given vector.

Implements ompl::control::Decomposition.

Definition at line 148 of file TriangularDecomposition.cpp.

◆ getNumHoles()

int ompl::control::TriangularDecomposition::getNumHoles ( ) const

Definition at line 108 of file TriangularDecomposition.cpp.

◆ getNumRegions()

int ompl::control::TriangularDecomposition::getNumRegions ( ) const

inlineoverridevirtual

Returns the number of regions in this Decomposition.

Implements ompl::control::Decomposition.

Definition at line 99 of file TriangularDecomposition.h.

◆ getNumRegionsOfInterest()

int ompl::control::TriangularDecomposition::getNumRegionsOfInterest ( ) const

Definition at line 113 of file TriangularDecomposition.cpp.

◆ getRegionOfInterestAt()

int ompl::control::TriangularDecomposition::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.

Definition at line 130 of file TriangularDecomposition.cpp.

◆ getRegionVolume()

double ompl::control::TriangularDecomposition::getRegionVolume ( int rid )

overridevirtual

Returns the volume of a given region in this Decomposition.

Implements ompl::control::Decomposition.

Definition at line 135 of file TriangularDecomposition.cpp.

◆ locateRegion()

int ompl::control::TriangularDecomposition::locateRegion ( const base::State * s ) const

overridevirtual

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.

Implements ompl::control::Decomposition.

Definition at line 153 of file TriangularDecomposition.cpp.

◆ print()

void ompl::control::TriangularDecomposition::print ( std::ostream & out ) const

Definition at line 185 of file TriangularDecomposition.cpp.

◆ sampleFromRegion()

void ompl::control::TriangularDecomposition::sampleFromRegion	(	int	rid,
		RNG &	rng,
		std::vector< double > &	coord ) const

overridevirtual

Samples a projected coordinate from a given region.

Implements ompl::control::Decomposition.

Definition at line 173 of file TriangularDecomposition.cpp.

◆ setup()

void ompl::control::TriangularDecomposition::setup ( )

Definition at line 91 of file TriangularDecomposition.cpp.

Member Data Documentation

◆ holes_

std::vector<Polygon> ompl::control::TriangularDecomposition::holes_

protected

Definition at line 138 of file TriangularDecomposition.h.

◆ intRegInfo_

std::vector<int> ompl::control::TriangularDecomposition::intRegInfo_

protected

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.

Definition at line 143 of file TriangularDecomposition.h.

◆ intRegs_

std::vector<Polygon> ompl::control::TriangularDecomposition::intRegs_

protected

Definition at line 139 of file TriangularDecomposition.h.

◆ triangles_

std::vector<Triangle> ompl::control::TriangularDecomposition::triangles_

protected

Definition at line 137 of file TriangularDecomposition.h.

◆ triAreaPct_

double ompl::control::TriangularDecomposition::triAreaPct_

protected

Definition at line 144 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

Constructor & Destructor Documentation

◆ TriangularDecomposition()

Member Function Documentation

◆ addHole()

◆ addRegionOfInterest()

◆ createTriangles()

◆ getAreasOfInterest()

◆ getHoles()

◆ getNeighbors()

◆ getNumHoles()

◆ getNumRegions()

◆ getNumRegionsOfInterest()

◆ getRegionOfInterestAt()

◆ getRegionVolume()

◆ locateRegion()

◆ print()

◆ sampleFromRegion()

◆ setup()

Member Data Documentation

◆ holes_

◆ intRegInfo_

◆ intRegs_

◆ triangles_

◆ triAreaPct_