ompl/control/planners/ltl/PropositionalDecomposition.h
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00034 
00035 /* Author: Matt Maly */
00036 
00037 #ifndef OMPL_CONTROL_PLANNERS_LTL_PROPOSITIONALDECOMPOSITION_
00038 #define OMPL_CONTROL_PLANNERS_LTL_PROPOSITIONALDECOMPOSITION_
00039 
00040 #include "ompl/base/State.h"
00041 #include "ompl/control/planners/syclop/Decomposition.h"
00042 #include "ompl/control/planners/ltl/World.h"
00043 #include "ompl/util/ClassForward.h"
00044 #include "ompl/util/RandomNumbers.h"
00045 #include "ompl/base/StateSampler.h"
00046 #include <vector>
00047 
00048 namespace ompl
00049 {
00050     namespace control
00051     {
00053 
00054         OMPL_CLASS_FORWARD(PropositionalDecomposition);
00056 
00063         class PropositionalDecomposition : public Decomposition
00064         {
00065         public:
00068             PropositionalDecomposition(const DecompositionPtr& decomp);
00069 
00071             virtual ~PropositionalDecomposition(void);            
00072 
00074             virtual World worldAtRegion(int rid) = 0;
00075 
00076             /* TODO section off the below methods with a general description of
00077                 "wrapper methods that simply call the underlying decomposition */
00078 
00081             virtual int getNumRegions(void) const;
00082 
00084             virtual int getNumProps(void) const = 0;
00085 
00087             virtual double getRegionVolume(int rid);
00088 
00091             virtual int locateRegion(const base::State* s) const;
00092 
00093             virtual void project(const base::State* s, std::vector<double>& coord) const;
00094 
00095             virtual void getNeighbors(int rid, std::vector<int>& neighbors) const;
00096 
00097             virtual void sampleFromRegion(int rid, RNG& rng, std::vector<double>& coord) const;
00098 
00099             virtual void sampleFullState(
00100                 const base::StateSamplerPtr& sampler,
00101                 const std::vector<double>& coord,
00102                 base::State* s) const;
00103 
00104         protected:
00105             DecompositionPtr decomp_;
00106         };
00107     }
00108 }
00109 #endif
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