ompl::control::GridDecomposition Class Reference
A GridDecomposition is a Decomposition implemented using a grid. More...
#include <ompl/control/planners/syclop/GridDecomposition.h>
Inheritance diagram for ompl::control::GridDecomposition:
Public Member Functions | |
| 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 | project (const base::State *s, std::vector< double > &coord) const =0 |
| Project a given State to a set of coordinates in R^k, where k is the dimension 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. | |
Protected Member Functions | |
| 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 | |
| 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
A GridDecomposition is a Decomposition implemented using a grid.
Definition at line 117 of file GridDecomposition.h.
Member Function Documentation
◆ computeGridNeighborsSub()
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protected |
Recursive subroutine for grid neighbor computation
Definition at line 126 of file GridDecomposition.cpp.
The documentation for this class was generated from the following files:
- ompl/control/planners/syclop/GridDecomposition.h
- ompl/control/planners/syclop/src/GridDecomposition.cpp