Inheritance diagram for KoulesDecomposition:

Public Member Functions
	KoulesDecomposition (const ompl::base::StateSpacePtr &space)

void	project (const ompl::base::State *s, std::vector< double > &coord) const override
	Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition. More...

void	sampleFullState (const ompl::base::StateSamplerPtr &sampler, const std::vector< double > &coord, ompl::base::State *s) const override

Public Member Functions inherited from ompl::control::GridDecomposition
	GridDecomposition (int len, int dim, const base::RealVectorBounds &b)
	Constructor. Creates a GridDecomposition as a hypercube with a given dimension, side length, and bounds. The cells of the hypercube are referenced by integer coordinates of the form \((r_1,\ldots,r_k)\), where \( 0 \leq r_i < \texttt{len}\). More...

int	getNumRegions () const override
	Returns the number of regions in this Decomposition. More...

double	getRegionVolume (int) override
	Returns the volume of a given region in this Decomposition. More...

void	getNeighbors (int rid, std::vector< int > &neighbors) const override
	Stores a given region's neighbors into a given vector. More...

int	locateRegion (const base::State *s) const override
	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. More...

void	sampleFromRegion (int rid, RNG &rng, std::vector< double > &coord) const override
	Samples a projected coordinate from a given region. More...

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. More...

virtual int	getNumRegions () const =0
	Returns the number of regions in this Decomposition. More...

virtual int	getDimension () const
	Returns the dimension of this Decomposition. More...

virtual const base::RealVectorBounds &	getBounds () const
	Returns the bounds of this Decomposition. More...

virtual double	getRegionVolume (int rid)=0
	Returns the volume of a given region in this Decomposition. More...

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. More...

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. More...

virtual void	getNeighbors (int rid, std::vector< int > &neighbors) const =0
	Stores a given region's neighbors into a given vector. More...

virtual void	sampleFromRegion (int rid, RNG &rng, std::vector< double > &coord) const =0
	Samples a projected coordinate from a given region. More...

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. More...

Static Public Member Functions
static ompl::base::RealVectorBounds	bounds3 (const ompl::base::RealVectorBounds &bounds)

Additional Inherited Members
Protected Member Functions inherited from ompl::control::GridDecomposition
virtual const base::RealVectorBounds &	getRegionBounds (int rid) const
	Helper method to return the bounds of a given region. More...

void	regionToGridCoord (int rid, std::vector< int > &coord) const
	Converts a given region to a coordinate in the grid. More...

int	gridCoordToRegion (const std::vector< int > &coord) const
	Converts the given grid coordinate to its corresponding region ID. More...

int	coordToRegion (const std::vector< double > &coord) const
	Converts a decomposition space coordinate to the ID of the region that contains iit. More...

void	coordToGridCoord (const std::vector< double > &coord, std::vector< int > &gridCoord) const
	Converts a decomposition space coordinate to a grid coordinate. More...

void	computeGridNeighbors (int rid, std::vector< int > &neighbors) const
	Computes the neighbors of the given region in a n-dimensional grid. More...

void	computeGridNeighborsSub (const std::vector< int > &coord, std::vector< int > &neighbors, int dim, std::vector< int > &candidate) const

Protected Attributes inherited from ompl::control::GridDecomposition
int	length_

double	cellVolume_

std::unordered_map< int, std::shared_ptr< base::RealVectorBounds > >	regToBounds_

Protected Attributes inherited from ompl::control::Decomposition
int	dimension_

base::RealVectorBounds	bounds_

Detailed Description

Definition at line 42 of file KoulesDecomposition.h.

Constructor & Destructor Documentation

◆ KoulesDecomposition()

KoulesDecomposition::KoulesDecomposition ( const ompl::base::StateSpacePtr & space )

inline

Definition at line 46 of file KoulesDecomposition.h.

Member Function Documentation

◆ bounds3()

static ompl::base::RealVectorBounds KoulesDecomposition::bounds3 ( const ompl::base::RealVectorBounds & bounds )

inlinestatic

Definition at line 50 of file KoulesDecomposition.h.

◆ project()

void KoulesDecomposition::project	(	const ompl::base::State *	s,
		std::vector< double > &	coord
	)		const

inlineoverridevirtual

Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition.

Implements ompl::control::Decomposition.

Definition at line 57 of file KoulesDecomposition.h.

◆ sampleFullState()

void KoulesDecomposition::sampleFullState	(	const ompl::base::StateSamplerPtr &	sampler,
		const std::vector< double > &	coord,
		ompl::base::State *	s
	)		const

inlineoverride

Definition at line 66 of file KoulesDecomposition.h.

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

demos/Koules/KoulesDecomposition.h

Public Member Functions

Static Public Member Functions

Additional Inherited Members