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Decomposition.h
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34 
35 /* Author: Matt Maly */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_DECOMPOSITION_
38 #define OMPL_CONTROL_PLANNERS_SYCLOP_DECOMPOSITION_
39 
40 #include "ompl/base/spaces/RealVectorBounds.h"
41 #include "ompl/base/StateSampler.h"
42 #include "ompl/base/State.h"
43 #include "ompl/util/Console.h"
44 #include "ompl/util/Exception.h"
45 #include "ompl/util/ClassForward.h"
46 
47 namespace ompl
48 {
49  namespace control
50  {
51 
53 
54  OMPL_CLASS_FORWARD(Decomposition);
56 
62  {
63  public:
64 
66  Decomposition(const int n, const std::size_t dim, const base::RealVectorBounds& b) : numRegions_(n), dimension_(dim), bounds_(b)
67  {
68  if (dim > b.low.size())
69  throw Exception("Decomposition", "argument 'dim' exceeds dimension of given bounds");
70  else if (dim < b.low.size())
71  OMPL_WARN("Decomposition: dimension of given bounds exceeds argument 'dim'. Using the first 'dim' values of bounds");
72  }
73 
74  virtual ~Decomposition()
75  {
76  }
77 
79  virtual int getNumRegions() const
80  {
81  return numRegions_;
82  }
83 
85  virtual std::size_t getDimension() const
86  {
87  return dimension_;
88  }
89 
91  virtual const base::RealVectorBounds& getBounds() const
92  {
93  return bounds_;
94  }
95 
97  virtual double getRegionVolume(const int rid) const = 0;
98 
101  virtual int locateRegion(const base::State* s) const = 0;
102 
104  virtual void project(const base::State* s, std::vector<double>& coord) const = 0;
105 
107  virtual void getNeighbors(const int rid, std::vector<int>& neighbors) const = 0;
108 
110  virtual void sampleFromRegion(const int rid, const base::StateSamplerPtr& sampler, base::State* s) = 0;
111 
113  virtual const base::RealVectorBounds& getRegionBounds(const int rid) = 0;
114 
115  protected:
116 
117  const int numRegions_;
118  const std::size_t dimension_;
119  const base::RealVectorBounds bounds_;
120  };
121  }
122 }
123 #endif