ompl::control::PropositionalDecomposition Class Reference
A propositional decomposition wraps a given Decomposition with a region-to-proposition assignment operator. Each region in the decomposition has a corresponding World. More...
#include <ompl/control/planners/ltl/PropositionalDecomposition.h>
Inheritance diagram for ompl::control::PropositionalDecomposition:

Public Member Functions | |
PropositionalDecomposition (const DecompositionPtr &decomp) | |
Creates a propositional decomposition wrapped around a given decomposition with a given number of propositions. | |
virtual | ~PropositionalDecomposition (void) |
Clears all memory belonging to this propositional decomposition. | |
virtual World | worldAtRegion (int rid)=0 |
Returns the World corresponding to a given region. | |
virtual int | getNumRegions (void) const |
Returns the number of regions in this propositional decomposition's underlying decomposition. | |
virtual int | getNumProps (void) const =0 |
Returns the number of propositions in this propositional decomposition. | |
virtual double | getRegionVolume (int rid) |
Returns the volume of a given region. | |
virtual int | locateRegion (const base::State *s) const |
Returns the region of the underlying decomposition that contains a given State. | |
virtual void | project (const base::State *s, std::vector< double > &coord) const |
Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition. | |
virtual void | getNeighbors (int rid, std::vector< int > &neighbors) const |
Stores a given region's neighbors into a given vector. | |
virtual void | sampleFromRegion (int rid, RNG &rng, std::vector< double > &coord) const |
Samples a projected coordinate from a given region. | |
virtual void | sampleFullState (const base::StateSamplerPtr &sampler, const std::vector< double > &coord, base::State *s) const |
Samples a State using a projected coordinate and a StateSampler. | |
Protected Attributes | |
DecompositionPtr | decomp_ |
Detailed Description
A propositional decomposition wraps a given Decomposition with a region-to-proposition assignment operator. Each region in the decomposition has a corresponding World.
Definition at line 63 of file PropositionalDecomposition.h.
The documentation for this class was generated from the following files:
- ompl/control/planners/ltl/PropositionalDecomposition.h
- ompl/control/planners/ltl/src/PropositionalDecomposition.cpp