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GridDecomposition.h
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34
35/* Author: Matt Maly */
36
37#ifndef OMPL_CONTROL_PLANNERS_SYCLOP_GRIDDECOMPOSITION_
38#define OMPL_CONTROL_PLANNERS_SYCLOP_GRIDDECOMPOSITION_
39
40#include <cstdlib>
41#include <memory>
42#include <unordered_map>
43#include "ompl/base/spaces/RealVectorBounds.h"
44#include "ompl/base/State.h"
45#include "ompl/control/planners/syclop/Decomposition.h"
46#include "ompl/util/RandomNumbers.h"
47
48namespace ompl
49{
50 namespace control
51 {
54 {
55 public:
60 GridDecomposition(int len, int dim, const base::RealVectorBounds &b);
61
62 ~GridDecomposition() override = default;
63
64 int getNumRegions() const override
65 {
66 return numGridCells_;
67 }
68
69 double getRegionVolume(int /*rid*/) override
70 {
71 return cellVolume_;
72 }
73
74 void getNeighbors(int rid, std::vector<int> &neighbors) const override;
75
76 int locateRegion(const base::State *s) const override;
77
78 void sampleFromRegion(int rid, RNG &rng, std::vector<double> &coord) const override;
79
80 protected:
82 virtual const base::RealVectorBounds &getRegionBounds(int rid) const;
83
85 void regionToGridCoord(int rid, std::vector<int> &coord) const;
86
88 int gridCoordToRegion(const std::vector<int> &coord) const;
89
91 int coordToRegion(const std::vector<double> &coord) const;
92
94 void coordToGridCoord(const std::vector<double> &coord, std::vector<int> &gridCoord) const;
95
97 void computeGridNeighbors(int rid, std::vector<int> &neighbors) const;
98
100 void computeGridNeighborsSub(const std::vector<int> &coord, std::vector<int> &neighbors, int dim,
101 std::vector<int> &candidate) const;
102
103 int length_;
104 double cellVolume_;
105 mutable std::unordered_map<int, std::shared_ptr<base::RealVectorBounds>> regToBounds_;
106
107 private:
108 const int numGridCells_;
109 };
110 }
111}
112#endif
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
The lower and upper bounds for an Rn space.
Definition of an abstract state.
Definition: State.h:50
A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are ...
Definition: Decomposition.h:63
A GridDecomposition is a Decomposition implemented using a grid.
double getRegionVolume(int) override
Returns the volume of a given region in this Decomposition.
void computeGridNeighbors(int rid, std::vector< int > &neighbors) const
Computes the neighbors of the given region in a n-dimensional grid.
void computeGridNeighborsSub(const std::vector< int > &coord, std::vector< int > &neighbors, int dim, std::vector< int > &candidate) const
int locateRegion(const base::State *s) const override
Returns the index of the region containing a given State. Most often, this is obtained by first calli...
int gridCoordToRegion(const std::vector< int > &coord) const
Converts the given grid coordinate to its corresponding region ID.
int coordToRegion(const std::vector< double > &coord) const
Converts a decomposition space coordinate to the ID of the region that contains iit.
void regionToGridCoord(int rid, std::vector< int > &coord) const
Converts a given region to a coordinate in the grid.
void sampleFromRegion(int rid, RNG &rng, std::vector< double > &coord) const override
Samples a projected coordinate from a given region.
void getNeighbors(int rid, std::vector< int > &neighbors) const override
Stores a given region's neighbors into a given vector.
int getNumRegions() const override
Returns the number of regions in this Decomposition.
virtual const base::RealVectorBounds & getRegionBounds(int rid) const
Helper method to return the bounds of a given region.
void coordToGridCoord(const std::vector< double > &coord, std::vector< int > &gridCoord) const
Converts a decomposition space coordinate to a grid coordinate.
Main namespace. Contains everything in this library.