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ompl::control::GridDecomposition Class Reference

A GridDecomposition is a Decomposition implemented using a grid. More...

#include <GridDecomposition.h>

Inheritance diagram for ompl::control::GridDecomposition:

List of all members.

Public Member Functions

 GridDecomposition (const int len, const std::size_t dim, const base::RealVectorBounds &b)
 Constructor. Creates a GridDecomposition as a hypercube with a given dimension, side length, and bounds.
virtual double getRegionVolume (const int rid) const
 Returns the volume of a given region in this Decomposition.
virtual void getNeighbors (const int rid, std::vector< int > &neighbors) const
 Stores a given region's neighbors into a given vector.
virtual int locateRegion (const base::State *s) const
 Returns the index of the region containing a given State. Most often, this is obtained by first calling project().
virtual const
base::RealVectorBounds
getRegionBounds (const int rid)
 Returns the bounds of a given region in this Decomposition.

Protected Member Functions

void regionToCoord (int rid, std::vector< int > &coord) const
 Converts a given region to a coordinate in the grid.
int coordToRegion (const std::vector< int > &coord) const
 Converts the given coordinate to the region in the grid.
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, unsigned int dim, std::vector< int > &candidate) const

Protected Attributes

const int length_
double cellVolume_
boost::unordered_map< int,
boost::shared_ptr
< base::RealVectorBounds > > 
regToBounds_

Detailed Description

A GridDecomposition is a Decomposition implemented using a grid.

Definition at line 52 of file GridDecomposition.h.


Member Function Documentation

void ompl::control::GridDecomposition::computeGridNeighborsSub ( const std::vector< int > &  coord,
std::vector< int > &  neighbors,
unsigned int  dim,
std::vector< int > &  candidate 
) const [protected]

Recursive subroutine for grid neighbor computation

Definition at line 159 of file GridDecomposition.cpp.


The documentation for this class was generated from the following files: