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ompl::control::Decomposition Class Referenceabstract

A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are denoted by integers. More...

#include <Decomposition.h>

Inheritance diagram for ompl::control::Decomposition:

Public Member Functions

 Decomposition (unsigned int dim, const base::RealVectorBounds &b, unsigned int nreg=0)
 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 unsigned int getNumRegions () const
 Returns the number of regions in this Decomposition.
 
virtual unsigned int getDimension () const
 Returns the dimension of this Decomposition.
 
virtual const
base::RealVectorBounds
getBounds () const
 Returns the bounds of this Decomposition.
 
virtual double getRegionVolume (unsigned int rid)=0
 Returns the volume of a given region in this Decomposition.
 
virtual int locateRegion (const base::State *s) const =0
 Returns the index of the region containing a given State. Most often, this is obtained by first calling project(). Returns -1 if no region contains the State.
 
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.
 
virtual void getNeighbors (unsigned int rid, std::vector< unsigned int > &neighbors) const =0
 Stores a given region's neighbors into a given vector.
 
virtual void sampleFromRegion (unsigned int rid, RNG &rng, std::vector< double > &coord) const =0
 Samples a projected coordinate from a given region.
 
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.
 

Protected Member Functions

virtual void setNumRegions (unsigned int n)
 

Protected Attributes

unsigned int numRegions_
 
unsigned int dimension_
 
base::RealVectorBounds bounds_
 

Detailed Description

A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are denoted by integers.

Definition at line 62 of file Decomposition.h.


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