PropositionalTriangularDecomposition.cpp
78 const ob::RealVectorBounds& bounds, const std::vector<Polygon>& holes, const std::vector<Polygon>& props)
79 : PropositionalDecomposition(DecompositionPtr(new WrapperDecomposition(this, bounds, holes, props))),
A TriangularDecomposition is a triangulation that ignores obstacles.
Definition: TriangularDecomposition.h:55
A class to represent an assignment of boolean values to propositions. A World can be partially restri...
Definition: World.h:51
virtual World worldAtRegion(int triID)
Returns the World corresponding to a given region.
Definition: PropositionalTriangularDecomposition.cpp:89
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition: Control.h:44
A boost shared pointer wrapper for ompl::base::StateSampler.
A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are ...
Definition: Decomposition.h:62
virtual int getNumProps(void) const
Returns the number of propositions in this propositional decomposition.
Definition: PropositionalTriangularDecomposition.cpp:84
virtual void sampleFromRegion(int triID, RNG &rng, std::vector< double > &coord) const
Samples a projected coordinate from a given region.
Definition: TriangularDecomposition.cpp:162
A propositional decomposition wraps a given Decomposition with a region-to-proposition assignment ope...
Definition: PropositionalDecomposition.h:63
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.
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: Cost.h:44
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...
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:48
PropositionalTriangularDecomposition(const base::RealVectorBounds &bounds, const std::vector< Polygon > &holes=std::vector< Polygon >(), const std::vector< Polygon > &props=std::vector< Polygon >())
Creates a PropositionalTriangularDecomposition over the given bounds, which must be 2-dimensional...
Definition: PropositionalTriangularDecomposition.cpp:77
A boost shared pointer wrapper for ompl::control::Decomposition.