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ompl::control::TriangularDecomposition Class Reference

A TriangularDecomposition is a triangulation that ignores obstacles. More...

#include <TriangularDecomposition.h>

Inheritance diagram for ompl::control::TriangularDecomposition:

Classes

struct  Polygon
 
struct  Triangle
 
struct  Vertex
 

Public Member Functions

virtual double getRegionVolume (unsigned int triID)
 Returns the volume of a given region in this Decomposition.
 
virtual void getNeighbors (unsigned int triID, std::vector< unsigned int > &neighbors) const
 Stores a given region's neighbors into a given vector.
 
virtual int locateRegion (const base::State *s) const
 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.
 
virtual void sampleFromRegion (unsigned int triID, RNG &rng, std::vector< double > &coord) const
 Samples a projected coordinate from a given region.
 
void print (std::ostream &out) const
 
- Public Member Functions inherited from ompl::control::Decomposition
 Decomposition (unsigned int dim, const base::RealVectorBounds &b, unsigned int nreg=0)
 Constructor. Creates a Decomposition with a given dimension and a given set of bounds. Accepts as an optional argument a given number of regions.
 
virtual unsigned int getNumRegions () const
 Returns the number of regions in this Decomposition.
 
virtual unsigned int getDimension () const
 Returns the dimension of this Decomposition.
 
virtual const
base::RealVectorBounds
getBounds () const
 Returns the bounds of this Decomposition.
 
virtual void project (const base::State *s, std::vector< double > &coord) const =0
 Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition.
 
virtual void sampleFullState (const base::StateSamplerPtr &sampler, const std::vector< double > &coord, base::State *s) const =0
 Samples a State using a projected coordinate and a StateSampler.
 

Protected Member Functions

 TriangularDecomposition (unsigned int dim, const base::RealVectorBounds &b, const std::vector< Polygon > &holes=std::vector< Polygon >())
 Constructor. Creates a TriangularDecomposition over the given bounds, which must be 2-dimensional. The triangulation will respect any given obstacles, which are assumed to be convex polygons.
 
virtual unsigned int createTriangles ()
 Helper method to triangulate the space and return the number of triangles.
 
- Protected Member Functions inherited from ompl::control::Decomposition
virtual void setNumRegions (unsigned int n)
 

Protected Attributes

std::vector< Triangletriangles_
 
std::vector< Polygonholes_
 
- Protected Attributes inherited from ompl::control::Decomposition
unsigned int numRegions_
 
unsigned int dimension_
 
base::RealVectorBounds bounds_
 

Detailed Description

A TriangularDecomposition is a triangulation that ignores obstacles.

Definition at line 50 of file TriangularDecomposition.h.


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