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PropositionalTriangularDecomposition.cpp
76oc::PropositionalTriangularDecomposition::PropositionalTriangularDecomposition(const ob::RealVectorBounds &bounds,
137 WrapperDecomposition::WrapperDecomposition(const oc::Decomposition *decomp, const ob::RealVectorBounds &bounds,
148 void WrapperDecomposition::sampleFromRegion(int rid, ompl::RNG &rng, std::vector<double> &coord) const
153 void WrapperDecomposition::sampleFullState(const ob::StateSamplerPtr &sampler, const std::vector<double> &coord,
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: RealVectorBounds.h:48
A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are ...
Definition: Decomposition.h:63
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.
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.
A propositional decomposition wraps a given Decomposition with a region-to-proposition assignment ope...
Definition: PropositionalDecomposition.h:64
A TriangularDecomposition is a triangulation that ignores obstacles.
Definition: TriangularDecomposition.h:56
void sampleFromRegion(int triID, RNG &rng, std::vector< double > &coord) const override
Samples a projected coordinate from a given region.
Definition: TriangularDecomposition.cpp:172
A class to represent an assignment of boolean values to propositions. A World can be partially restri...
Definition: World.h:72
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: ConstrainedSpaceInformation.h:55
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition: Control.h:45
STL namespace.