PropositionalTriangularDecomposition.h

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/* Author: Matt Maly */
 
#ifndef OMPL_EXTENSIONS_TRIANGLE_PROPOSITIONALTRIANGULARDECOMPOSITION_
#define OMPL_EXTENSIONS_TRIANGLE_PROPOSITIONALTRIANGULARDECOMPOSITION_
 
#include "ompl/extensions/triangle/TriangularDecomposition.h"
#include "ompl/control/planners/ltl/PropositionalDecomposition.h"
#include "ompl/control/planners/ltl/World.h"
#include "ompl/util/RandomNumbers.h"
#include "ompl/base/State.h"
#include "ompl/base/StateSampler.h"
#include "ompl/base/spaces/RealVectorBounds.h"
#include <ostream>
#include <vector>
 
namespace ompl
{
    namespace control
    {
        class PropositionalTriangularDecomposition : public PropositionalDecomposition
        {
        public:
            using Polygon = TriangularDecomposition::Polygon;
            using Vertex = TriangularDecomposition::Vertex;
 
            PropositionalTriangularDecomposition(const base::RealVectorBounds &bounds,
                                                 const std::vector<Polygon> &holes = std::vector<Polygon>(),
                                                 const std::vector<Polygon> &props = std::vector<Polygon>());
 
            ~PropositionalTriangularDecomposition() override = default;
 
            int getNumProps() const override;
 
            World worldAtRegion(int triID) override;
 
            void setup();
 
            void addHole(const Polygon &hole);
 
            void addProposition(const Polygon &prop);
 
            const std::vector<Polygon> &getHoles() const;
 
            const std::vector<Polygon> &getPropositions() const;
 
            // Debug method: prints this decomposition as a list of polygons
            void print(std::ostream &out) const;
 
        protected:
            TriangularDecomposition *triDecomp_;
        };
    }
}
#endif