37 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_DECOMPOSITION_
38 #define OMPL_CONTROL_PLANNERS_SYCLOP_DECOMPOSITION_
40 #include "ompl/base/spaces/RealVectorBounds.h"
41 #include "ompl/base/StateSampler.h"
42 #include "ompl/base/State.h"
44 #include "ompl/util/Exception.h"
45 #include "ompl/util/ClassForward.h"
54 OMPL_CLASS_FORWARD(Decomposition);
68 if (dim > b.
low.size())
69 throw Exception(
"Decomposition",
"argument 'dim' exceeds dimension of given bounds");
70 else if (dim < b.
low.size())
71 OMPL_WARN(
"Decomposition: dimension of given bounds exceeds argument 'dim'. Using the first 'dim' values of bounds");
107 virtual void getNeighbors(
const int rid, std::vector<int>& neighbors)
const = 0;
117 const int numRegions_;
118 const std::size_t dimension_;