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:

List of all members.

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.


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