Class Syclop::CoverageGrid

Nested Relationships

This class is a nested type of Class Syclop.

Inheritance Relationships

Base Type

Class Documentation

class CoverageGrid : public ompl::control::GridDecomposition

Syclop uses a CoverageGrid to estimate coverage in its assigned Decomposition. The CoverageGrid should have finer resolution than the Decomposition.

Public Functions

inline CoverageGrid(const int len, const DecompositionPtr &d)
~CoverageGrid() override = default
inline void project(const base::State *s, std::vector<double> &coord) const override

Since the CoverageGrid is defined in the same space as the Decomposition, it uses the Decomposition’s projection function.

inline void sampleFullState(const base::StateSamplerPtr&, const std::vector<double>&, base::State*) const override

Syclop will not sample from the CoverageGrid.

Protected Attributes

const DecompositionPtr &decomp