ompl/extensions/triangle/src/PropositionalTriangularDecomposition.cpp
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Matt Maly */ 00036 00037 #include "ompl/extensions/triangle/PropositionalTriangularDecomposition.h" 00038 #include "ompl/extensions/triangle/TriangularDecomposition.h" 00039 #include "ompl/control/planners/ltl/PropositionalDecomposition.h" 00040 #include "ompl/control/planners/ltl/World.h" 00041 #include "ompl/util/RandomNumbers.h" 00042 #include "ompl/base/State.h" 00043 #include "ompl/base/StateSampler.h" 00044 #include "ompl/base/spaces/RealVectorBounds.h" 00045 #include <ostream> 00046 #include <set> 00047 #include <vector> 00048 00049 namespace ob = ompl::base; 00050 namespace oc = ompl::control; 00051 00052 namespace 00053 { 00054 /* PropositionalTriangularDecomposition creates a WrapperDecomposition under-the-hood 00055 (which represents a triangulation over the given bounds that uses 00056 PropositionalTriangularDecomposition's user-defined project and sample methods) 00057 and hands it upward to the PropositionalDecomposition superclass constructor. */ 00058 class WrapperDecomposition : public oc::TriangularDecomposition 00059 { 00060 public: 00061 typedef TriangularDecomposition::Polygon Polygon; 00062 typedef TriangularDecomposition::Vertex Vertex; 00063 WrapperDecomposition(const oc::Decomposition* decomp, 00064 const ob::RealVectorBounds& bounds, 00065 const std::vector<Polygon>& holes, 00066 const std::vector<Polygon>& props); 00067 virtual ~WrapperDecomposition(void) {} 00068 virtual void project(const ob::State* s, std::vector<double>& coord) const; 00069 virtual void sampleFromRegion(int rid, ompl::RNG& rng, std::vector<double>& coord) const; 00070 virtual void sampleFullState(const ob::StateSamplerPtr& sampler, 00071 const std::vector<double>& coord, ob::State* s) const; 00072 protected: 00073 const oc::Decomposition* decomp_; 00074 }; 00075 } 00076 00077 oc::PropositionalTriangularDecomposition::PropositionalTriangularDecomposition( 00078 const ob::RealVectorBounds& bounds, const std::vector<Polygon>& holes, const std::vector<Polygon>& props) 00079 : PropositionalDecomposition(DecompositionPtr(new WrapperDecomposition(this, bounds, holes, props))), 00080 triDecomp_(static_cast<TriangularDecomposition*>(decomp_.get())) 00081 { 00082 } 00083 00084 int oc::PropositionalTriangularDecomposition::getNumProps(void) const 00085 { 00086 return triDecomp_->getNumRegionsOfInterest(); 00087 } 00088 00089 oc::World oc::PropositionalTriangularDecomposition::worldAtRegion(int triID) 00090 { 00091 int numProps = getNumProps(); 00092 World world(numProps); 00093 for (int p = 0; p < numProps; ++p) 00094 world[p] = false; 00095 if (triID == -1) return world; 00096 int prop = triDecomp_->getRegionOfInterestAt(triID); 00097 if (prop >= 0) world[prop] = true; 00098 return world; 00099 } 00100 00101 void oc::PropositionalTriangularDecomposition::setup(void) 00102 { 00103 triDecomp_->setup(); 00104 } 00105 00106 void oc::PropositionalTriangularDecomposition::addHole(const Polygon& hole) 00107 { 00108 triDecomp_->addHole(hole); 00109 } 00110 00111 void oc::PropositionalTriangularDecomposition::addProposition(const Polygon& prop) 00112 { 00113 triDecomp_->addRegionOfInterest(prop); 00114 } 00115 00116 const std::vector<oc::PropositionalTriangularDecomposition::Polygon>& 00117 oc::PropositionalTriangularDecomposition::getHoles(void) const 00118 { 00119 return triDecomp_->getHoles(); 00120 } 00121 00122 const std::vector<oc::PropositionalTriangularDecomposition::Polygon>& 00123 oc::PropositionalTriangularDecomposition::getPropositions(void) const 00124 { 00125 return triDecomp_->getAreasOfInterest(); 00126 } 00127 00128 void oc::PropositionalTriangularDecomposition::print(std::ostream& out) const 00129 { 00130 triDecomp_->print(out); 00131 } 00132 00133 namespace 00134 { 00135 WrapperDecomposition::WrapperDecomposition(const oc::Decomposition* decomp, 00136 const ob::RealVectorBounds& bounds, 00137 const std::vector<Polygon>& holes, 00138 const std::vector<Polygon>& props) 00139 : oc::TriangularDecomposition(bounds, holes, props), 00140 decomp_(decomp) 00141 { 00142 } 00143 00144 void WrapperDecomposition::project(const ob::State* s, std::vector<double>& coord) const 00145 { 00146 decomp_->project(s, coord); 00147 } 00148 00149 void WrapperDecomposition::sampleFromRegion(int rid, 00150 ompl::RNG& rng, 00151 std::vector<double>& coord) const 00152 { 00153 decomp_->sampleFromRegion(rid, rng, coord); 00154 } 00155 00156 void WrapperDecomposition::sampleFullState(const ob::StateSamplerPtr& sampler, 00157 const std::vector<double>& coord, 00158 ob::State* s) const 00159 { 00160 decomp_->sampleFullState(sampler, coord, s); 00161 } 00162 }