ompl::geometric::XXLPlanarDecomposition Class Referenceabstract
Inheritance diagram for ompl::geometric::XXLPlanarDecomposition:
Public Member Functions | |
| 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 | numLayers () const =0 |
| Return the number of layers possible in this decomposition. Must be at least 1. | |
| 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. | |
| virtual bool | sampleFromRegion (int r, base::State *s, const base::State *seed=nullptr) const =0 |
| Sample a state s from region r in layer 0. | |
| virtual bool | sampleFromRegion (int r, base::State *s, const base::State *seed, int layer) const =0 |
| Sample a state s from region r in the given layer. | |
| virtual void | project (const base::State *s, std::vector< double > &coord, int layer=0) const =0 |
| Project the given State into the XXLDecomposition. | |
| virtual void | project (const base::State *s, std::vector< int > &layers) const =0 |
| Project the state into the decomposition and retrieve the region for all valid layers. | |
| 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. | |
| virtual bool | steerToRegion (int, int, const ompl::base::State *, std::vector< ompl::base::State * > &) const |
Protected Attributes | |
| 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_ |
Detailed Description
Definition at line 114 of file XXLPlanarDecomposition.h.
The documentation for this class was generated from the following files:
- ompl/geometric/planners/xxl/XXLPlanarDecomposition.h
- ompl/geometric/planners/xxl/src/XXLPlanarDecomposition.cpp