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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 <boost/shared_ptr.hpp>
42 #include <boost/unordered_map.hpp>
43 #include "ompl/base/spaces/RealVectorBounds.h"
44 #include "ompl/base/State.h"
45 #include "ompl/control/planners/syclop/Decomposition.h"
46 
47 namespace ompl
48 {
49  namespace control
50  {
53  {
54  public:
56  GridDecomposition(const int len, const std::size_t dim, const base::RealVectorBounds& b);
57 
58  virtual ~GridDecomposition()
59  {
60  }
61 
62  virtual double getRegionVolume(const int rid) const
63  {
64  return cellVolume_;
65  }
66 
67  virtual void getNeighbors(const int rid, std::vector<int>& neighbors) const;
68 
69  virtual int locateRegion(const base::State* s) const;
70 
71  virtual const base::RealVectorBounds& getRegionBounds(const int rid);
72 
73  protected:
75  void regionToCoord(int rid, std::vector<int>& coord) const;
76 
78  int coordToRegion (const std::vector<int> &coord) const;
79 
81  void computeGridNeighbors (int rid, std::vector <int> &neighbors) const;
82 
84  void computeGridNeighborsSub (const std::vector <int>&coord, std::vector <int> &neighbors,
85  unsigned int dim, std::vector <int> &candidate) const;
86 
87  const int length_;
88  double cellVolume_;
89  boost::unordered_map<int, boost::shared_ptr<base::RealVectorBounds> > regToBounds_;
90 
91  private:
93  int calcNumRegions(const int len, const std::size_t dim) const;
94  };
95  }
96 }
97 #endif