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GridDecomposition.h
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00034 
00035 /* Author: Matt Maly */
00036 
00037 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_GRIDDECOMPOSITION_
00038 #define OMPL_CONTROL_PLANNERS_SYCLOP_GRIDDECOMPOSITION_
00039 
00040 #include <cstdlib>
00041 #include <boost/shared_ptr.hpp>
00042 #include <boost/unordered_map.hpp>
00043 #include "ompl/base/spaces/RealVectorBounds.h"
00044 #include "ompl/base/State.h"
00045 #include "ompl/control/planners/syclop/Decomposition.h"
00046 
00047 namespace ompl
00048 {
00049     namespace control
00050     {
00052         class GridDecomposition : public Decomposition
00053         {
00054         public:
00056             GridDecomposition(const int len, const std::size_t dim, const base::RealVectorBounds& b);
00057 
00058             virtual ~GridDecomposition()
00059             {
00060             }
00061 
00062             virtual double getRegionVolume(const int rid) const
00063             {
00064                 return cellVolume_;
00065             }
00066 
00067             virtual void getNeighbors(const int rid, std::vector<int>& neighbors) const;
00068 
00069             virtual int locateRegion(const base::State* s) const;
00070 
00071             virtual const base::RealVectorBounds& getRegionBounds(const int rid);
00072 
00073         protected:
00075             void regionToCoord(int rid, std::vector<int>& coord) const;
00076 
00078             int coordToRegion (const std::vector<int> &coord) const;
00079 
00081             void computeGridNeighbors (int rid, std::vector <int> &neighbors) const;
00082 
00084             void computeGridNeighborsSub (const std::vector <int>&coord, std::vector <int> &neighbors,
00085                                           unsigned int dim, std::vector <int> &candidate) const;
00086 
00087             const int length_;
00088             double cellVolume_;
00089             boost::unordered_map<int, boost::shared_ptr<base::RealVectorBounds> > regToBounds_;
00090 
00091         private:
00093             int calcNumRegions(const int len, const std::size_t dim) const;
00094         };
00095     }
00096 }
00097 #endif
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