PropositionalDecomposition.cpp
1 #include "ompl/control/planners/ltl/PropositionalDecomposition.h"
2 #include "ompl/base/State.h"
3 #include "ompl/control/planners/syclop/Decomposition.h"
4 #include "ompl/control/planners/ltl/World.h"
5 #include "ompl/util/ClassForward.h"
6 #include "ompl/util/RandomNumbers.h"
7 #include "ompl/base/StateSampler.h"
8 #include <vector>
9 
11  Decomposition(decomp->getDimension(), decomp->getBounds()),
12  decomp_(decomp)
13 {
14 }
15 
17 {
18 }
19 
21 {
22  return decomp_->getNumRegions();
23 }
24 
26 {
27  return decomp_->getRegionVolume(rid);
28 }
29 
31 {
32  return decomp_->locateRegion(s);
33 }
34 
35 void ompl::control::PropositionalDecomposition::project(const base::State* s, std::vector<double>& coord) const
36 {
37  return decomp_->project(s, coord);
38 }
39 
40 void ompl::control::PropositionalDecomposition::getNeighbors(int rid, std::vector<int>& neighbors) const
41 {
42  decomp_->getNeighbors(rid, neighbors);
43 }
44 
45 void ompl::control::PropositionalDecomposition::sampleFromRegion(int rid, RNG& rng, std::vector<double>& coord) const
46 {
47  decomp_->sampleFromRegion(rid, rng, coord);
48 }
49 
51  const base::StateSamplerPtr& sampler,
52  const std::vector<double>& coord,
53  base::State* s) const
54 {
55  decomp_->sampleFullState(sampler, coord, s);
56 }
virtual void getNeighbors(int rid, std::vector< int > &neighbors) const
Stores a given region&#39;s neighbors into a given vector.
A boost shared pointer wrapper for ompl::base::StateSampler.
virtual int locateRegion(const base::State *s) const
Returns the region of the underlying decomposition that contains a given State.
A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are ...
Definition: Decomposition.h:62
virtual ~PropositionalDecomposition(void)
Clears all memory belonging to this propositional decomposition.
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.
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
virtual double getRegionVolume(int rid)
Returns the volume of a given region.
virtual int getNumRegions(void) const
Returns the number of regions in this propositional decomposition&#39;s underlying decomposition.
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...
Definition of an abstract state.
Definition: State.h:50
PropositionalDecomposition(const DecompositionPtr &decomp)
Creates a propositional decomposition wrapped around a given decomposition with a given number of pro...
A boost shared pointer wrapper for ompl::control::Decomposition.