XXLPositionDecomposition.h

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/* Author: Ryan Luna */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_XXL_XXLPOSITIONDECOMPOSITION_
#define OMPL_GEOMETRIC_PLANNERS_XXL_XXLPOSITIONDECOMPOSITION_
 
#include "ompl/geometric/planners/xxl/XXLDecomposition.h"
#include "ompl/base/spaces/RealVectorBounds.h"
#include "ompl/util/RandomNumbers.h"
 
namespace ompl
{
    namespace geometric
    {
        // A decomposition of an n-dimensional Euclidean space
        class XXLPositionDecomposition : public XXLDecomposition
        {
        public:
            XXLPositionDecomposition(const base::RealVectorBounds &bounds, const std::vector<int> &slices,
                                     bool diagonalEdges = false);
            virtual ~XXLPositionDecomposition();
 
            virtual int getNumRegions() const;
 
            virtual int getDimension() const;
 
            virtual int numLayers() const = 0;
 
            virtual int locateRegion(const base::State *s) const;
 
            virtual int locateRegion(const std::vector<double> &coord) const;
 
            virtual void getNeighbors(int rid, std::vector<int> &neighbors) const;
 
            virtual void getNeighborhood(int rid, std::vector<int> &neighborhood) const;
 
            virtual double distanceHeuristic(int r1, int r2) const;
 
            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;
 
            // \brief Return the (discrete) grid cell coordinates of the given region id
            void ridToGridCell(int rid, std::vector<int> &cell) const;
 
            int gridCellToRid(const std::vector<int> &cell) const;
 
            int coordToRegion(const std::vector<double> &coord) const;
            int coordToRegion(const double *coord) const;
 
            bool hasDiagonalEdges() const;
 
        protected:
            // Compute the neighbors of rid (no diagonal edges)
            void getNonDiagonalNeighbors(int rid, std::vector<int> &neighbors) const;
 
            // Compute the neighbors of rid (including diagonal edges)
            void getDiagonalNeighbors(int rid, std::vector<int> &neighbors) const;
 
            // The bounds on the Euclidean part of the decomposition
            base::RealVectorBounds bounds_;
 
            // The number of divisions in each Euclidean dimension
            const std::vector<int> slices_;
            // The extent of the grid cells in each dimension
            std::vector<double> cellSizes_;
 
            // If true, the decomposition has diagonal edges
            bool diagonalEdges_;
 
            int numRegions_;
        };
    }  // namespace geometric
}  // namespace ompl
 
#endif