ompl::geometric::XXLDecomposition Class Referenceabstract
Inheritance diagram for ompl::geometric::XXLDecomposition:

Public Member Functions

 XXLDecomposition ()
 Constructor. More...
 
virtual int getNumRegions () const =0
 Returns the number of regions in this XXLDecomposition. More...
 
virtual int getDimension () const =0
 Return the dimension of this XXLDecomposition. More...
 
virtual int numLayers () const =0
 Return the number of layers possible in this decomposition. Must be at least 1. More...
 
virtual int locateRegion (const base::State *s) const =0
 Returns the index of the region containing a given State. Most often, this is obtained by first calling project(). Returns -1 if no region contains the State. More...
 
virtual int locateRegion (const std::vector< double > &coord) const =0
 Return the region that this coordinate lies in. Returns -1 if this coord is out of bounds. More...
 
virtual void getNeighbors (int rid, std::vector< int > &neighbors) const =0
 Stores the given region's neighbors into a given vector. These are adjacent neighbors. More...
 
virtual void getNeighborhood (int rid, std::vector< int > &neighborhood) const
 Return a list of regions in the neighborhood of rid. This method is intended to retrieve all regions with in a 'radius'. This method should return a superset of getNeighbors (or equal). The neighborhood may or not be adjacent regions. Think of this as the 8-connected neighborhood of a grid, and getNeighbors as the 4-connected neighborhood of a grid. More...
 
virtual double distanceHeuristic (int r1, int r2) const =0
 An admissible and consistent distance heuristic between two regions. More...
 
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. More...
 
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. More...
 
virtual void project (const base::State *s, std::vector< double > &coord, int layer=0) const =0
 Project the given State into the XXLDecomposition. More...
 
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. More...
 
virtual bool canSteer () const
 Returns true if the method steerToRegion is available. More...
 
virtual bool steerToRegion (int, int, const ompl::base::State *, std::vector< ompl::base::State * > &) const
 

Detailed Description

Definition at line 59 of file XXLDecomposition.h.

Constructor & Destructor Documentation

◆ XXLDecomposition()

ompl::geometric::XXLDecomposition::XXLDecomposition ( )
inline

Constructor.

Definition at line 63 of file XXLDecomposition.h.

◆ ~XXLDecomposition()

virtual ompl::geometric::XXLDecomposition::~XXLDecomposition ( )
inlinevirtual

Definition at line 67 of file XXLDecomposition.h.

Member Function Documentation

◆ canSteer()

virtual bool ompl::geometric::XXLDecomposition::canSteer ( ) const
inlinevirtual

Returns true if the method steerToRegion is available.

Definition at line 116 of file XXLDecomposition.h.

◆ distanceHeuristic()

virtual double ompl::geometric::XXLDecomposition::distanceHeuristic ( int  r1,
int  r2 
) const
pure virtual

An admissible and consistent distance heuristic between two regions.

Implemented in ompl::geometric::XXLPlanarDecomposition, and ompl::geometric::XXLPositionDecomposition.

◆ getDimension()

virtual int ompl::geometric::XXLDecomposition::getDimension ( ) const
pure virtual

◆ getNeighborhood()

virtual void ompl::geometric::XXLDecomposition::getNeighborhood ( int  rid,
std::vector< int > &  neighborhood 
) const
inlinevirtual

Return a list of regions in the neighborhood of rid. This method is intended to retrieve all regions with in a 'radius'. This method should return a superset of getNeighbors (or equal). The neighborhood may or not be adjacent regions. Think of this as the 8-connected neighborhood of a grid, and getNeighbors as the 4-connected neighborhood of a grid.

Reimplemented in ompl::geometric::XXLPlanarDecomposition, and ompl::geometric::XXLPositionDecomposition.

Definition at line 95 of file XXLDecomposition.h.

◆ getNeighbors()

virtual void ompl::geometric::XXLDecomposition::getNeighbors ( int  rid,
std::vector< int > &  neighbors 
) const
pure virtual

Stores the given region's neighbors into a given vector. These are adjacent neighbors.

Implemented in ompl::geometric::XXLPlanarDecomposition, and ompl::geometric::XXLPositionDecomposition.

◆ getNumRegions()

virtual int ompl::geometric::XXLDecomposition::getNumRegions ( ) const
pure virtual

Returns the number of regions in this XXLDecomposition.

Implemented in ompl::geometric::XXLPlanarDecomposition, and ompl::geometric::XXLPositionDecomposition.

◆ locateRegion() [1/2]

virtual int ompl::geometric::XXLDecomposition::locateRegion ( const base::State s) const
pure virtual

Returns the index of the region containing a given State. Most often, this is obtained by first calling project(). Returns -1 if no region contains the State.

Implemented in ompl::geometric::XXLPlanarDecomposition, and ompl::geometric::XXLPositionDecomposition.

◆ locateRegion() [2/2]

virtual int ompl::geometric::XXLDecomposition::locateRegion ( const std::vector< double > &  coord) const
pure virtual

Return the region that this coordinate lies in. Returns -1 if this coord is out of bounds.

Implemented in ompl::geometric::XXLPlanarDecomposition, and ompl::geometric::XXLPositionDecomposition.

◆ numLayers()

virtual int ompl::geometric::XXLDecomposition::numLayers ( ) const
pure virtual

Return the number of layers possible in this decomposition. Must be at least 1.

Implemented in PMXXLDecomposition, ompl::geometric::XXLPlanarDecomposition, and ompl::geometric::XXLPositionDecomposition.

◆ project() [1/2]

virtual void ompl::geometric::XXLDecomposition::project ( const base::State s,
std::vector< double > &  coord,
int  layer = 0 
) const
pure virtual

◆ project() [2/2]

virtual void ompl::geometric::XXLDecomposition::project ( const base::State s,
std::vector< int > &  layers 
) const
pure virtual

Project the state into the decomposition and retrieve the region for all valid layers.

Implemented in ompl::geometric::XXLPlanarDecomposition, ompl::geometric::XXLPositionDecomposition, and PMXXLDecomposition.

◆ sampleFromRegion() [1/2]

virtual bool ompl::geometric::XXLDecomposition::sampleFromRegion ( int  r,
base::State s,
const base::State seed,
int  layer 
) const
pure virtual

Sample a state s from region r in the given layer.

Implemented in ompl::geometric::XXLPlanarDecomposition, ompl::geometric::XXLPositionDecomposition, and PMXXLDecomposition.

◆ sampleFromRegion() [2/2]

virtual bool ompl::geometric::XXLDecomposition::sampleFromRegion ( int  r,
base::State s,
const base::State seed = nullptr 
) const
pure virtual

Sample a state s from region r in layer 0.

Implemented in ompl::geometric::XXLPlanarDecomposition, ompl::geometric::XXLPositionDecomposition, and PMXXLDecomposition.

◆ steerToRegion()

virtual bool ompl::geometric::XXLDecomposition::steerToRegion ( int  ,
int  ,
const ompl::base::State ,
std::vector< ompl::base::State * > &   
) const
inlinevirtual

Definition at line 121 of file XXLDecomposition.h.


The documentation for this class was generated from the following file: