GridDecomposition.h

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/* Author: Matt Maly */
 
#ifndef OMPL_CONTROL_PLANNERS_SYCLOP_GRIDDECOMPOSITION_
#define OMPL_CONTROL_PLANNERS_SYCLOP_GRIDDECOMPOSITION_
 
#include <cstdlib>
#include <memory>
#include <unordered_map>
#include "ompl/base/spaces/RealVectorBounds.h"
#include "ompl/base/State.h"
#include "ompl/control/planners/syclop/Decomposition.h"
#include "ompl/util/RandomNumbers.h"
 
namespace ompl
{
    namespace control
    {
        class GridDecomposition : public Decomposition
        {
        public:
            GridDecomposition(int len, int dim, const base::RealVectorBounds &b);
 
            ~GridDecomposition() override = default;
 
            int getNumRegions() const override
            {
                return numGridCells_;
            }
 
            double getRegionVolume(int /*rid*/) override
            {
                return cellVolume_;
            }
 
            void getNeighbors(int rid, std::vector<int> &neighbors) const override;
 
            int locateRegion(const base::State *s) const override;
 
            void sampleFromRegion(int rid, RNG &rng, std::vector<double> &coord) const override;
 
        protected:
            virtual const base::RealVectorBounds &getRegionBounds(int rid) const;
 
            void regionToGridCoord(int rid, std::vector<int> &coord) const;
 
            int gridCoordToRegion(const std::vector<int> &coord) const;
 
            int coordToRegion(const std::vector<double> &coord) const;
 
            void coordToGridCoord(const std::vector<double> &coord, std::vector<int> &gridCoord) const;
 
            void computeGridNeighbors(int rid, std::vector<int> &neighbors) const;
 
            void computeGridNeighborsSub(const std::vector<int> &coord, std::vector<int> &neighbors, int dim,
                                         std::vector<int> &candidate) const;
 
            int length_;
            double cellVolume_;
            mutable std::unordered_map<int, std::shared_ptr<base::RealVectorBounds>> regToBounds_;
 
        private:
            const int numGridCells_;
        };
    }
}
#endif