XXLDecomposition.h

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/* Author: Ryan Luna */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_XXL_XXLDECOMPOSITION_
#define OMPL_GEOMETRIC_PLANNERS_XXL_XXLDECOMPOSITION_
 
#include <vector>
#include "ompl/base/State.h"
#include "ompl/base/spaces/RealVectorBounds.h"
#include "ompl/util/ClassForward.h"
#include "ompl/util/Console.h"
 
namespace ompl
{
    namespace geometric
    {
 
        OMPL_CLASS_FORWARD(XXLDecomposition);
 
        class XXLDecomposition
        {
        public:
            XXLDecomposition()
            {
            }
 
            virtual ~XXLDecomposition()
            {
            }
 
            virtual int getNumRegions() const = 0;
 
            virtual int getDimension() const = 0;
 
            virtual int numLayers() const = 0;
 
            virtual int locateRegion(const base::State *s) const = 0;
 
            virtual int locateRegion(const std::vector<double> &coord) const = 0;
 
            virtual void getNeighbors(int rid, std::vector<int> &neighbors) const = 0;
 
            virtual void getNeighborhood(int rid, std::vector<int> &neighborhood) const
            {
                return getNeighbors(rid, neighborhood);
            }
 
            virtual double distanceHeuristic(int r1, int r2) const = 0;
 
            virtual bool sampleFromRegion(int r, base::State *s, const base::State *seed = nullptr) const = 0;
 
            virtual bool sampleFromRegion(int r, base::State *s, const base::State *seed, int layer) const = 0;
 
            virtual void project(const base::State *s, std::vector<double> &coord, int layer = 0) const = 0;
 
            virtual void project(const base::State *s, std::vector<int> &layers) const = 0;
 
            virtual bool canSteer() const
            {
                return false;
            }
 
            virtual bool steerToRegion(int /*r*/, int /*layer*/, const ompl::base::State * /*start*/,
                                       std::vector<ompl::base::State *> & /*states*/) const
            {
                OMPL_ERROR("steerToRegion has no default implementation");
                return false;
            }
        };
    }  // namespace geometric
}  // namespace ompl
#endif