ompl::control::PropositionalTriangularDecomposition Class Reference

A PropositionalTriangularDecomposition is a triangulation that ignores obstacles and respects propositional regions of interest. Practically speaking, it is both a TriangularDecomposition and a PropositionalDecomposition, but it is implemented without using multiple inheritance. More...

#include <ompl/extensions/triangle/PropositionalTriangularDecomposition.h>

Inheritance diagram for ompl::control::PropositionalTriangularDecomposition:

Public Types

typedef TriangularDecomposition::Polygon Polygon
 
typedef TriangularDecomposition::Vertex Vertex
 

Public Member Functions

 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. The underlying mesh will be a conforming Delaunay triangulation. The triangulation will ignore any obstacles, given as a list of polygons. The triangulation will respect the boundaries of any propositional regions of interest, given as a list of polygons.
 
virtual int getNumProps (void) const
 Returns the number of propositions in this propositional decomposition.
 
virtual World worldAtRegion (int triID)
 Returns the World corresponding to a given region.
 
void setup (void)
 
void addHole (const Polygon &hole)
 
void addProposition (const Polygon &prop)
 
const std::vector< Polygon > & getHoles (void) const
 
const std::vector< Polygon > & getPropositions (void) const
 
void print (std::ostream &out) const
 
- Public Member Functions inherited from ompl::control::PropositionalDecomposition
 PropositionalDecomposition (const DecompositionPtr &decomp)
 Creates a propositional decomposition wrapped around a given decomposition with a given number of propositions.
 
virtual ~PropositionalDecomposition (void)
 Clears all memory belonging to this propositional decomposition.
 
virtual int getNumRegions (void) const
 Returns the number of regions in this propositional decomposition's underlying decomposition.
 
virtual double getRegionVolume (int rid)
 Returns the volume of a given region.
 
virtual int locateRegion (const base::State *s) const
 Returns the region of the underlying decomposition that contains a given State.
 
virtual void project (const base::State *s, std::vector< double > &coord) const
 Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition.
 
virtual void getNeighbors (int rid, std::vector< int > &neighbors) const
 Stores a given region's neighbors into a given vector.
 
virtual void sampleFromRegion (int rid, RNG &rng, std::vector< double > &coord) const
 Samples a projected coordinate from a given region.
 
virtual void sampleFullState (const base::StateSamplerPtr &sampler, const std::vector< double > &coord, base::State *s) const
 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::RealVectorBoundsgetBounds () const
 Returns the bounds of this Decomposition.
 

Protected Attributes

TriangularDecompositiontriDecomp_
 
- Protected Attributes inherited from ompl::control::PropositionalDecomposition
DecompositionPtr decomp_
 
- Protected Attributes inherited from ompl::control::Decomposition
int dimension_
 
base::RealVectorBounds bounds_
 

Detailed Description

A PropositionalTriangularDecomposition is a triangulation that ignores obstacles and respects propositional regions of interest. Practically speaking, it is both a TriangularDecomposition and a PropositionalDecomposition, but it is implemented without using multiple inheritance.

Definition at line 58 of file PropositionalTriangularDecomposition.h.


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