ompl::control::GridDecomposition Class Reference

A GridDecomposition is a Decomposition implemented using a grid. More...

#include <ompl/control/planners/syclop/GridDecomposition.h>

Inheritance diagram for ompl::control::GridDecomposition:

List of all members.

Public Member Functions

 GridDecomposition (int len, int dim, const base::RealVectorBounds &b)
 Constructor. Creates a GridDecomposition as a hypercube with a given dimension, side length, and bounds. The cells of the hypercube are referenced by integer coordinates of the form $(r_1,\ldots,r_k)$, where $ 0 \leq r_i < \texttt{len}$.
virtual int getNumRegions (void) const
 Returns the number of regions in this Decomposition.
virtual double getRegionVolume (int)
 Returns the volume of a given region in this Decomposition.
virtual void getNeighbors (int rid, std::vector< int > &neighbors) const
 Stores a given region's neighbors into a given vector.
virtual int locateRegion (const base::State *s) const
 Returns the index of the region containing a given State. Most often, this is obtained by first calling project(). Returns -1 if no region contains the State.
virtual void sampleFromRegion (int rid, RNG &rng, std::vector< double > &coord) const
 Samples a projected coordinate from a given region.

Protected Member Functions

virtual const
base::RealVectorBounds
getRegionBounds (int rid) const
 Helper method to return the bounds of a given region.
void regionToGridCoord (int rid, std::vector< int > &coord) const
 Converts a given region to a coordinate in the grid.
int gridCoordToRegion (const std::vector< int > &coord) const
 Converts the given grid coordinate to its corresponding region ID.
int coordToRegion (const std::vector< double > &coord) const
 Converts a decomposition space coordinate to the ID of the region that contains iit.
void coordToGridCoord (const std::vector< double > &coord, std::vector< int > &gridCoord) const
 Converts a decomposition space coordinate to a grid coordinate.
void computeGridNeighbors (int rid, std::vector< int > &neighbors) const
 Computes the neighbors of the given region in a n-dimensional grid.
void computeGridNeighborsSub (const std::vector< int > &coord, std::vector< int > &neighbors, int dim, std::vector< int > &candidate) const

Protected Attributes

int length_
double cellVolume_
boost::unordered_map< int,
boost::shared_ptr
< base::RealVectorBounds > > 
regToBounds_

Detailed Description

A GridDecomposition is a Decomposition implemented using a grid.

Definition at line 53 of file GridDecomposition.h.


Member Function Documentation

void ompl::control::GridDecomposition::computeGridNeighborsSub ( const std::vector< int > &  coord,
std::vector< int > &  neighbors,
int  dim,
std::vector< int > &  candidate 
) const [protected]

Recursive subroutine for grid neighbor computation

Definition at line 161 of file GridDecomposition.cpp.


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