ompl/extensions/triangle/PropositionalTriangularDecomposition.h
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2013, Rice University
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Rice University nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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 #ifndef OMPL_EXTENSIONS_TRIANGLE_PROPOSITIONALTRIANGULARDECOMPOSITION_
00038 #define OMPL_EXTENSIONS_TRIANGLE_PROPOSITIONALTRIANGULARDECOMPOSITION_
00039 
00040 #include "ompl/extensions/triangle/TriangularDecomposition.h"
00041 #include "ompl/control/planners/ltl/PropositionalDecomposition.h"
00042 #include "ompl/control/planners/ltl/World.h"
00043 #include "ompl/util/RandomNumbers.h"
00044 #include "ompl/base/State.h"
00045 #include "ompl/base/StateSampler.h"
00046 #include "ompl/base/spaces/RealVectorBounds.h"
00047 #include <ostream>
00048 #include <vector>
00049 
00050 namespace ompl
00051 {
00052     namespace control
00053     {
00058         class PropositionalTriangularDecomposition : public PropositionalDecomposition
00059         {
00060         public:
00061             typedef TriangularDecomposition::Polygon Polygon;
00062             typedef TriangularDecomposition::Vertex Vertex;
00063 
00070             PropositionalTriangularDecomposition(
00071                 const base::RealVectorBounds& bounds,
00072                 const std::vector<Polygon>& holes = std::vector<Polygon>(),
00073                 const std::vector<Polygon>& props = std::vector<Polygon>()
00074             );
00075 
00076             virtual ~PropositionalTriangularDecomposition(void) {}
00077 
00078             virtual int getNumProps(void) const;
00079 
00080             virtual World worldAtRegion(int triID);
00081 
00082             void setup(void);
00083 
00084             void addHole(const Polygon& hole);
00085 
00086             void addProposition(const Polygon& prop);
00087 
00088             const std::vector<Polygon>& getHoles(void) const;
00089 
00090             const std::vector<Polygon>& getPropositions(void) const;
00091 
00092             //Debug method: prints this decomposition as a list of polygons
00093             void print(std::ostream& out) const;
00094 
00095         protected:
00096             TriangularDecomposition* triDecomp_;
00097         };
00098     }
00099 }
00100 #endif
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines