ompl/control/planners/syclop/GridDecomposition.h
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00034 
00035 /* Author: Matt Maly */
00036 
00037 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_GRIDDECOMPOSITION_
00038 #define OMPL_CONTROL_PLANNERS_SYCLOP_GRIDDECOMPOSITION_
00039 
00040 #include <cstdlib>
00041 #include <boost/shared_ptr.hpp>
00042 #include <boost/unordered_map.hpp>
00043 #include "ompl/base/spaces/RealVectorBounds.h"
00044 #include "ompl/base/State.h"
00045 #include "ompl/control/planners/syclop/Decomposition.h"
00046 #include "ompl/util/RandomNumbers.h"
00047 
00048 namespace ompl
00049 {
00050     namespace control
00051     {
00053         class GridDecomposition : public Decomposition
00054         {
00055         public:
00059             GridDecomposition(int len, int dim, const base::RealVectorBounds &b);
00060 
00061             virtual ~GridDecomposition()
00062             {
00063             }
00064 
00065             virtual int getNumRegions(void) const { return numGridCells_; }
00066 
00067             virtual double getRegionVolume(int /*rid*/)
00068             {
00069                 return cellVolume_;
00070             }
00071 
00072             virtual void getNeighbors(int rid, std::vector<int>& neighbors) const;
00073 
00074             virtual int locateRegion(const base::State *s) const;
00075 
00076             virtual void sampleFromRegion(int rid, RNG &rng, std::vector<double>& coord) const;
00077 
00078         protected:
00080             virtual const base::RealVectorBounds& getRegionBounds(int rid) const;
00081 
00083             void regionToGridCoord(int rid, std::vector<int>& coord) const;
00084 
00086             int gridCoordToRegion (const std::vector<int> &coord) const;
00087 
00089             int coordToRegion(const std::vector<double>& coord) const;
00090 
00092             void coordToGridCoord(const std::vector<double>& coord, std::vector<int>& gridCoord) const;
00093 
00095             void computeGridNeighbors (int rid, std::vector <int> &neighbors) const;
00096 
00098             void computeGridNeighborsSub (const std::vector<int>& coord, std::vector<int>& neighbors,
00099                                           int dim, std::vector<int>& candidate) const;
00100 
00101             int length_;
00102             double cellVolume_;
00103             mutable boost::unordered_map<int, boost::shared_ptr<base::RealVectorBounds> > regToBounds_;
00104 
00105         private:
00106             const int numGridCells_;
00107         };
00108     }
00109 }
00110 #endif
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