ompl::control::PropositionalDecomposition Class Referenceabstract
A propositional decomposition wraps a given Decomposition with a region-to-proposition assignment operator. Each region in the decomposition has a corresponding World. More...
#include <ompl/control/planners/ltl/PropositionalDecomposition.h>
Inheritance diagram for ompl::control::PropositionalDecomposition:
Public Member Functions | |
| PropositionalDecomposition (const DecompositionPtr &decomp) | |
| Creates a propositional decomposition wrapped around a given decomposition with a given number of propositions. | |
| ~PropositionalDecomposition () override | |
| Clears all memory belonging to this propositional decomposition. | |
| virtual World | worldAtRegion (int rid)=0 |
| Returns the World corresponding to a given region. | |
| int | getNumRegions () const override |
| Returns the number of regions in this propositional decomposition's underlying decomposition. | |
| virtual int | getNumProps () const =0 |
| Returns the number of propositions in this propositional decomposition. | |
| double | getRegionVolume (int rid) override |
| Returns the volume of a given region. | |
| int | locateRegion (const base::State *s) const override |
| Returns the region of the underlying decomposition that contains a given State. | |
| void | project (const 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 | getNeighbors (int rid, std::vector< int > &neighbors) const override |
| Stores a given region's neighbors into a given vector. | |
| void | sampleFromRegion (int rid, RNG &rng, std::vector< double > &coord) const override |
| Samples a projected coordinate from a given region. | |
| void | sampleFullState (const base::StateSamplerPtr &sampler, const std::vector< double > &coord, base::State *s) const override |
| Samples a State using a projected coordinate and a StateSampler. | |
 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. | |
Protected Attributes | |
| DecompositionPtr | decomp_ |
| Protected Attributes inherited from ompl::control::Decomposition | |
| int | dimension_ |
| base::RealVectorBounds | bounds_ |
Detailed Description
A propositional decomposition wraps a given Decomposition with a region-to-proposition assignment operator. Each region in the decomposition has a corresponding World.
Definition at line 127 of file PropositionalDecomposition.h.
The documentation for this class was generated from the following files:
- ompl/control/planners/ltl/PropositionalDecomposition.h
- ompl/control/planners/ltl/src/PropositionalDecomposition.cpp