ompl::control::PropositionalTriangularDecomposition Class Reference

A PropositionalTriangularDecomposition is a triangulation that ignores obstacles and respects propositional regions of interest. Practically speaking, it is both a TriangularDecomposition and a PropositionalDecomposition, but it is implemented without using multiple inheritance. More...

#include <ompl/extensions/triangle/PropositionalTriangularDecomposition.h>

Inheritance diagram for ompl::control::PropositionalTriangularDecomposition:

List of all members.

Public Types

typedef
TriangularDecomposition::Polygon 
Polygon
typedef
TriangularDecomposition::Vertex 
Vertex

Public Member Functions

 PropositionalTriangularDecomposition (const base::RealVectorBounds &bounds, const std::vector< Polygon > &holes=std::vector< Polygon >(), const std::vector< Polygon > &props=std::vector< Polygon >())
 Creates a PropositionalTriangularDecomposition over the given bounds, which must be 2-dimensional. The underlying mesh will be a conforming Delaunay triangulation. The triangulation will ignore any obstacles, given as a list of polygons. The triangulation will respect the boundaries of any propositional regions of interest, given as a list of polygons.
virtual int getNumProps (void) const
 Returns the number of propositions in this propositional decomposition.
virtual World worldAtRegion (int triID)
 Returns the World corresponding to a given region.
void setup (void)
void addHole (const Polygon &hole)
void addProposition (const Polygon &prop)
const std::vector< Polygon > & getHoles (void) const
const std::vector< Polygon > & getPropositions (void) const
void print (std::ostream &out) const

Protected Attributes

TriangularDecompositiontriDecomp_

Detailed Description

A PropositionalTriangularDecomposition is a triangulation that ignores obstacles and respects propositional regions of interest. Practically speaking, it is both a TriangularDecomposition and a PropositionalDecomposition, but it is implemented without using multiple inheritance.

Definition at line 58 of file PropositionalTriangularDecomposition.h.


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