ompl/control/planners/syclop/Decomposition.h
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00034 
00035 /* Author: Matt Maly */
00036 
00037 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_DECOMPOSITION_
00038 #define OMPL_CONTROL_PLANNERS_SYCLOP_DECOMPOSITION_
00039 
00040 #include "ompl/base/spaces/RealVectorBounds.h"
00041 #include "ompl/base/StateSampler.h"
00042 #include "ompl/base/State.h"
00043 #include "ompl/util/Console.h"
00044 #include "ompl/util/Exception.h"
00045 #include "ompl/util/ClassForward.h"
00046 #include "ompl/util/RandomNumbers.h"
00047 
00048 namespace ompl
00049 {
00050     namespace control
00051     {
00052 
00054 
00055         OMPL_CLASS_FORWARD(Decomposition);
00057 
00062         class Decomposition
00063         {
00064         public:
00065 
00069             Decomposition(int dim, const base::RealVectorBounds &b) : dimension_(dim), bounds_(b)
00070             {
00071                 if (dim > static_cast<int>(b.low.size()))
00072                     throw Exception("Decomposition", "argument 'dim' exceeds dimension of given bounds");
00073                 else if (dim < static_cast<int>(b.low.size()))
00074                     OMPL_WARN("Decomposition: dimension of given bounds exceeds argument 'dim'. Using the first 'dim' values of bounds");
00075             }
00076 
00077             virtual ~Decomposition()
00078             {
00079             }
00080 
00082             virtual int getNumRegions() const = 0;
00083 
00085             virtual int getDimension() const
00086             {
00087                 return dimension_;
00088             }
00089 
00091             virtual const base::RealVectorBounds& getBounds() const
00092             {
00093                 return bounds_;
00094             }
00095 
00097             virtual double getRegionVolume(int rid) = 0;
00098 
00102             virtual int locateRegion(const base::State *s) const = 0;
00103 
00105             virtual void project(const base::State *s, std::vector<double>& coord) const = 0;
00106 
00108             virtual void getNeighbors(int rid, std::vector<int>& neighbors) const = 0;
00109 
00111             virtual void sampleFromRegion(int rid, RNG &rng, std::vector<double>& coord) const = 0;
00112 
00114             virtual void sampleFullState(const base::StateSamplerPtr& sampler, const std::vector<double>& coord, base::State *s) const = 0;
00115 
00116         protected:
00117             int dimension_;
00118             base::RealVectorBounds bounds_;
00119         };
00120     }
00121 }
00122 #endif
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