Public Member Functions | Static Public Member Functions | List of all members
KoulesDecomposition Class Reference
Inheritance diagram for KoulesDecomposition:
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Public Member Functions

 KoulesDecomposition (const ompl::base::StateSpacePtr &space)
 
void project (const ompl::base::State *s, std::vector< double > &coord) const override
 Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition.
 
void sampleFullState (const ompl::base::StateSamplerPtr &sampler, const std::vector< double > &coord, ompl::base::State *s) const override
 
- Public Member Functions inherited from ompl::control::GridDecomposition
 GridDecomposition (int len, int dim, const base::RealVectorBounds &b)
 Constructor. Creates a GridDecomposition as a hypercube with a given dimension, side length, and bounds. The cells of the hypercube are referenced by integer coordinates of the form \((r_1,\ldots,r_k)\), where \( 0 \leq r_i < \texttt{len}\).
 
int getNumRegions () const override
 Returns the number of regions in this Decomposition.
 
double getRegionVolume (int) override
 Returns the volume of a given region in this Decomposition.
 
void getNeighbors (int rid, std::vector< int > &neighbors) const override
 Stores a given region's neighbors into a given vector.
 
int locateRegion (const base::State *s) const override
 Returns the index of the region containing a given State. Most often, this is obtained by first calling project(). Returns -1 if no region contains the State.
 
void sampleFromRegion (int rid, RNG &rng, std::vector< double > &coord) const override
 Samples a projected coordinate from a given region.
 
- Public Member Functions inherited from ompl::control::Decomposition
 Decomposition (int dim, const base::RealVectorBounds &b)
 Constructor. Creates a Decomposition with a given dimension and a given set of bounds. Accepts as an optional argument a given number of regions.
 
virtual int getDimension () const
 Returns the dimension of this Decomposition.
 
virtual const base::RealVectorBounds & getBounds () const
 Returns the bounds of this Decomposition.
 
virtual void sampleFullState (const base::StateSamplerPtr &sampler, const std::vector< double > &coord, base::State *s) const =0
 Samples a State using a projected coordinate and a StateSampler.
 

Static Public Member Functions

static ompl::base::RealVectorBounds bounds3 (const ompl::base::RealVectorBounds &bounds)
 

Additional Inherited Members

- Protected Member Functions inherited from ompl::control::GridDecomposition
virtual const base::RealVectorBounds & getRegionBounds (int rid) const
 Helper method to return the bounds of a given region.
 
void regionToGridCoord (int rid, std::vector< int > &coord) const
 Converts a given region to a coordinate in the grid.
 
int gridCoordToRegion (const std::vector< int > &coord) const
 Converts the given grid coordinate to its corresponding region ID.
 
int coordToRegion (const std::vector< double > &coord) const
 Converts a decomposition space coordinate to the ID of the region that contains iit.
 
void coordToGridCoord (const std::vector< double > &coord, std::vector< int > &gridCoord) const
 Converts a decomposition space coordinate to a grid coordinate.
 
void computeGridNeighbors (int rid, std::vector< int > &neighbors) const
 Computes the neighbors of the given region in a n-dimensional grid.
 
void computeGridNeighborsSub (const std::vector< int > &coord, std::vector< int > &neighbors, int dim, std::vector< int > &candidate) const
 
- Protected Attributes inherited from ompl::control::GridDecomposition
int length_
 
double cellVolume_
 
std::unordered_map< int, std::shared_ptr< base::RealVectorBounds > > regToBounds_
 
- Protected Attributes inherited from ompl::control::Decomposition
int dimension_
 
base::RealVectorBounds bounds_
 

Detailed Description

Definition at line 42 of file KoulesDecomposition.h.

The documentation for this class was generated from the following file: