Class XXLPlanarDecomposition

Defined in File XXLPlanarDecomposition.h

Inheritance Relationships

Base Type

public ompl::geometric::XXLDecomposition (Class XXLDecomposition)

Class Documentation

class XXLPlanarDecomposition : public ompl::geometric::XXLDecomposition 

Public Functions

XXLPlanarDecomposition(const base::RealVectorBounds &xyBounds, const std::vector<int> &xySlices, const int thetaSlices, bool diagonalEdges = false)

XXLPlanarDecomposition(const base::RealVectorBounds &xyBounds, const std::vector<int> &xySlices, const int thetaSlices, double thetaLowerBound, double thetaUpperBound, bool diagonalEdges = false)

virtual ~XXLPlanarDecomposition()

virtual int getNumRegions() const: Return the total number of regions in this decomposition.

virtual int getDimension() const: Return the dimension of this HiLoDecomposition.

virtual int numLayers() const = 0: Return the number of layers possible in this decomposition. Must be at least 1.

virtual int locateRegion(const base::State *s) const: Return the id of the region that this state falls in.

virtual int locateRegion(const std::vector<double> &coord) const: Return the id of the region that this coordinate falls in.

virtual void getNeighbors(int rid, std::vector<int> &neighbors) const: Stores the given region’s neighbors into a given vector.

virtual void getNeighborhood(int rid, std::vector<int> &neighborhood) const: Stores the given region’s neighbors into the vector. This returns the 8-connected grid neighbors of the cell, regardless of whether diagonal edges exist.

virtual double distanceHeuristic(int r1, int r2) const: An admissible and consistent distance heuristic between two regions. Manhattan distance on grid.

virtual bool sampleFromRegion(int r, base::State *s, const base::State *seed = nullptr) const = 0: Sample a state s from region r in layer 0.

virtual bool sampleFromRegion(int r, base::State *s, const base::State *seed, int layer) const = 0: Sample a state s from region r in the given layer.

virtual void project(const base::State *s, std::vector<double> &coord, int layer = 0) const = 0: Project the given State into the XXLDecomposition.

virtual void project(const base::State *s, std::vector<int> &layers) const = 0: Project the state into the decomposition and retrieve the region for all valid layers.

void ridToGridCell(int rid, std::vector<int> &cell) const

int gridCellToRid(const std::vector<int> &cell) const: Return the region id corresponding to the (discrete) grid cell coordinates.

int coordToRegion(const std::vector<double> &coord) const: Return the region id of the given coordinate in the decomposition.

int coordToRegion(const double *coord) const

bool hasDiagonalEdges() const: Return true if the decomposition has diagonal edges.

Protected Functions

void constructGraph()

void getNonDiagonalNeighbors(int rid, std::vector<int> &neighbors) const

void getDiagonalNeighbors(int rid, std::vector<int> &neighbors) const

void sampleCoordinateFromRegion(int r, std::vector<double> &coord) const

void sampleCoordinateFromRegion(int r, double *coord) const

Protected Attributes

bool diagonalEdges_

base::RealVectorBounds xyBounds_

double thetaLow_ = {-boost::math::constants::pi<double>()}

double thetaHigh_ = {boost::math::constants::pi<double>()}

std::vector<int> xySlices_

int thetaSlices_

int numRegions_

double dx_

double dy_

double xSize_

double ySize_

double dTheta_

double thetaSize_

int dimension_

mutable ompl::RNG rng_