Decomposition.h
73 OMPL_WARN("Decomposition: dimension of given bounds exceeds argument 'dim'. Using the first 'dim' "
113 virtual void sampleFullState(const base::StateSamplerPtr &sampler, const std::vector<double> &coord,
virtual double getRegionVolume(int rid)=0
Returns the volume of a given region in this Decomposition.
A shared pointer wrapper for ompl::base::StateSampler.
virtual int getNumRegions() const =0
Returns the number of regions in this Decomposition.
A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are ...
Definition: Decomposition.h:62
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.
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
virtual void getNeighbors(int rid, std::vector< int > &neighbors) const =0
Stores a given region's neighbors into a given vector.
virtual const base::RealVectorBounds & getBounds() const
Returns the bounds of this Decomposition.
Definition: Decomposition.h:89
virtual int getDimension() const
Returns the dimension of this Decomposition.
Definition: Decomposition.h:83
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 calli...
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...
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:47
Decomposition(int dim, const base::RealVectorBounds &b)
Constructor. Creates a Decomposition with a given dimension and a given set of bounds. Accepts as an optional argument a given number of regions.
Definition: Decomposition.h:68
virtual void sampleFromRegion(int rid, RNG &rng, std::vector< double > &coord) const =0
Samples a projected coordinate from a given region.