ompl/control/planners/ltl/src/PropositionalDecomposition.cpp
00001 #include "ompl/control/planners/ltl/PropositionalDecomposition.h"
00002 #include "ompl/base/State.h"
00003 #include "ompl/control/planners/syclop/Decomposition.h"
00004 #include "ompl/control/planners/ltl/World.h"
00005 #include "ompl/util/ClassForward.h"
00006 #include "ompl/util/RandomNumbers.h"
00007 #include "ompl/base/StateSampler.h"
00008 #include <vector>
00009 
00010 ompl::control::PropositionalDecomposition::PropositionalDecomposition(const DecompositionPtr& decomp) :
00011     Decomposition(decomp->getDimension(), decomp->getBounds()),
00012     decomp_(decomp)
00013 {
00014 }
00015 
00016 ompl::control::PropositionalDecomposition::~PropositionalDecomposition(void)
00017 {
00018 }
00019 
00020 int ompl::control::PropositionalDecomposition::getNumRegions(void) const
00021 {
00022     return decomp_->getNumRegions();
00023 }
00024 
00025 double ompl::control::PropositionalDecomposition::getRegionVolume(int rid)
00026 {
00027     return decomp_->getRegionVolume(rid);
00028 }
00029 
00030 int ompl::control::PropositionalDecomposition::locateRegion(const base::State* s) const
00031 {
00032     return decomp_->locateRegion(s);
00033 }
00034 
00035 void ompl::control::PropositionalDecomposition::project(const base::State* s, std::vector<double>& coord) const
00036 {
00037     return decomp_->project(s, coord);
00038 }
00039 
00040 void ompl::control::PropositionalDecomposition::getNeighbors(int rid, std::vector<int>& neighbors) const
00041 {
00042     decomp_->getNeighbors(rid, neighbors);
00043 }
00044 
00045 void ompl::control::PropositionalDecomposition::sampleFromRegion(int rid, RNG& rng, std::vector<double>& coord) const
00046 {
00047     decomp_->sampleFromRegion(rid, rng, coord);
00048 }
00049 
00050 void ompl::control::PropositionalDecomposition::sampleFullState(
00051     const base::StateSamplerPtr& sampler,
00052     const std::vector<double>& coord,
00053     base::State* s) const
00054 {
00055     decomp_->sampleFullState(sampler, coord, s);
00056 }
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