Inheritance diagram for ompl::geometric::XXLPositionDecomposition:

Public Member Functions
	XXLPositionDecomposition (const base::RealVectorBounds &bounds, const std::vector< int > &slices, bool diagonalEdges=false)
virtual int	getNumRegions () const
	Returns the number of regions in this XXLDecomposition.
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 Member Functions
void	getNonDiagonalNeighbors (int rid, std::vector< int > &neighbors) const
void	getDiagonalNeighbors (int rid, std::vector< int > &neighbors) const

Protected Attributes
base::RealVectorBounds	bounds_
const std::vector< int >	slices_
std::vector< double >	cellSizes_
bool	diagonalEdges_
int	numRegions_

Detailed Description

Definition at line 49 of file XXLPositionDecomposition.h.

Constructor & Destructor Documentation

◆ XXLPositionDecomposition()

ompl::geometric::XXLPositionDecomposition::XXLPositionDecomposition	(	const base::RealVectorBounds &	bounds,
		const std::vector< int > &	slices,
		bool	diagonalEdges = false )

Definition at line 41 of file XXLPositionDecomposition.cpp.

◆ ~XXLPositionDecomposition()

ompl::geometric::XXLPositionDecomposition::~XXLPositionDecomposition ( )

virtual

Definition at line 64 of file XXLPositionDecomposition.cpp.

Member Function Documentation

◆ coordToRegion() [1/2]

int ompl::geometric::XXLPositionDecomposition::coordToRegion ( const double * coord ) const

Definition at line 151 of file XXLPositionDecomposition.cpp.

◆ coordToRegion() [2/2]

int ompl::geometric::XXLPositionDecomposition::coordToRegion ( const std::vector< double > & coord ) const

Return the region id of the given coordinate in the decomposition.

Definition at line 146 of file XXLPositionDecomposition.cpp.

◆ distanceHeuristic()

double ompl::geometric::XXLPositionDecomposition::distanceHeuristic	(	int	r1,
		int	r2 ) const

virtual

An admissible and consistent distance heuristic between two regions. Manhattan distance on grid.

Implements ompl::geometric::XXLDecomposition.

Definition at line 103 of file XXLPositionDecomposition.cpp.

◆ getDiagonalNeighbors()

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

protected

Definition at line 189 of file XXLPositionDecomposition.cpp.

◆ getDimension()

int ompl::geometric::XXLPositionDecomposition::getDimension ( ) const

virtual

Return the dimension of this HiLoDecomposition.

Implements ompl::geometric::XXLDecomposition.

Definition at line 73 of file XXLPositionDecomposition.cpp.

◆ getNeighborhood()

void ompl::geometric::XXLPositionDecomposition::getNeighborhood	(	int	rid,
		std::vector< int > &	neighborhood ) const

virtual

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.

Reimplemented from ompl::geometric::XXLDecomposition.

Definition at line 98 of file XXLPositionDecomposition.cpp.