ompl::control::PropositionalTriangularDecomposition Class Reference
A PropositionalTriangularDecomposition is a triangulation that ignores obstacles and respects propositional regions of interest. Practically speaking, it is both a TriangularDecomposition and a PropositionalDecomposition, but it is implemented without using multiple inheritance. More...
#include <ompl/extensions/triangle/PropositionalTriangularDecomposition.h>
Inheritance diagram for ompl::control::PropositionalTriangularDecomposition:

Public Types | |
typedef TriangularDecomposition::Polygon | Polygon |
typedef TriangularDecomposition::Vertex | Vertex |
Public Member Functions | |
PropositionalTriangularDecomposition (const base::RealVectorBounds &bounds, const std::vector< Polygon > &holes=std::vector< Polygon >(), const std::vector< Polygon > &props=std::vector< Polygon >()) | |
Creates a PropositionalTriangularDecomposition over the given bounds, which must be 2-dimensional. The underlying mesh will be a conforming Delaunay triangulation. The triangulation will ignore any obstacles, given as a list of polygons. The triangulation will respect the boundaries of any propositional regions of interest, given as a list of polygons. | |
virtual int | getNumProps (void) const |
Returns the number of propositions in this propositional decomposition. | |
virtual World | worldAtRegion (int triID) |
Returns the World corresponding to a given region. | |
void | setup (void) |
void | addHole (const Polygon &hole) |
void | addProposition (const Polygon &prop) |
const std::vector< Polygon > & | getHoles (void) const |
const std::vector< Polygon > & | getPropositions (void) const |
void | print (std::ostream &out) const |
Protected Attributes | |
TriangularDecomposition * | triDecomp_ |
Detailed Description
A PropositionalTriangularDecomposition is a triangulation that ignores obstacles and respects propositional regions of interest. Practically speaking, it is both a TriangularDecomposition and a PropositionalDecomposition, but it is implemented without using multiple inheritance.
Definition at line 58 of file PropositionalTriangularDecomposition.h.
The documentation for this class was generated from the following files:
- ompl/extensions/triangle/PropositionalTriangularDecomposition.h
- ompl/extensions/triangle/src/PropositionalTriangularDecomposition.cpp