
Public Member Functions | |
XXLDecomposition () | |
Constructor. More... | |
virtual int | getNumRegions () const =0 |
Returns the number of regions in this XXLDecomposition. More... | |
virtual int | getDimension () const =0 |
Return the dimension of this XXLDecomposition. More... | |
virtual int | numLayers () const =0 |
Return the number of layers possible in this decomposition. Must be at least 1. More... | |
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 calling project(). Returns -1 if no region contains the State. More... | |
virtual int | locateRegion (const std::vector< double > &coord) const =0 |
Return the region that this coordinate lies in. Returns -1 if this coord is out of bounds. More... | |
virtual void | getNeighbors (int rid, std::vector< int > &neighbors) const =0 |
Stores the given region's neighbors into a given vector. These are adjacent neighbors. More... | |
virtual void | getNeighborhood (int rid, std::vector< int > &neighborhood) const |
Return a list of regions in the neighborhood of rid. This method is intended to retrieve all regions with in a 'radius'. This method should return a superset of getNeighbors (or equal). The neighborhood may or not be adjacent regions. Think of this as the 8-connected neighborhood of a grid, and getNeighbors as the 4-connected neighborhood of a grid. More... | |
virtual double | distanceHeuristic (int r1, int r2) const =0 |
An admissible and consistent distance heuristic between two regions. More... | |
virtual bool | sampleFromRegion (int r, base::State *s, const base::State *seed=nullptr) const =0 |
Sample a state s from region r in layer 0. More... | |
virtual bool | sampleFromRegion (int r, base::State *s, const base::State *seed, int layer) const =0 |
Sample a state s from region r in the given layer. More... | |
virtual void | project (const base::State *s, std::vector< double > &coord, int layer=0) const =0 |
Project the given State into the XXLDecomposition. More... | |
virtual void | project (const base::State *s, std::vector< int > &layers) const =0 |
Project the state into the decomposition and retrieve the region for all valid layers. More... | |
virtual bool | canSteer () const |
Returns true if the method steerToRegion is available. More... | |
virtual bool | steerToRegion (int, int, const ompl::base::State *, std::vector< ompl::base::State * > &) const |
Detailed Description
Definition at line 59 of file XXLDecomposition.h.
Constructor & Destructor Documentation
◆ XXLDecomposition()
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inline |
Constructor.
Definition at line 63 of file XXLDecomposition.h.
◆ ~XXLDecomposition()
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inlinevirtual |
Definition at line 67 of file XXLDecomposition.h.
Member Function Documentation
◆ canSteer()
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inlinevirtual |
Returns true if the method steerToRegion is available.
Definition at line 116 of file XXLDecomposition.h.
◆ distanceHeuristic()
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pure virtual |
An admissible and consistent distance heuristic between two regions.
Implemented in ompl::geometric::XXLPlanarDecomposition, and ompl::geometric::XXLPositionDecomposition.
◆ getDimension()
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pure virtual |
Return the dimension of this XXLDecomposition.
Implemented in ompl::geometric::XXLPlanarDecomposition, and ompl::geometric::XXLPositionDecomposition.
◆ getNeighborhood()
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inlinevirtual |
Return a list of regions in the neighborhood of rid. This method is intended to retrieve all regions with in a 'radius'. This method should return a superset of getNeighbors (or equal). The neighborhood may or not be adjacent regions. Think of this as the 8-connected neighborhood of a grid, and getNeighbors as the 4-connected neighborhood of a grid.
Reimplemented in ompl::geometric::XXLPlanarDecomposition, and ompl::geometric::XXLPositionDecomposition.
Definition at line 95 of file XXLDecomposition.h.
◆ getNeighbors()
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pure virtual |
Stores the given region's neighbors into a given vector. These are adjacent neighbors.
Implemented in ompl::geometric::XXLPlanarDecomposition, and ompl::geometric::XXLPositionDecomposition.
◆ getNumRegions()
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pure virtual |
Returns the number of regions in this XXLDecomposition.
Implemented in ompl::geometric::XXLPlanarDecomposition, and ompl::geometric::XXLPositionDecomposition.
◆ locateRegion() [1/2]
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pure virtual |
Returns the index of the region containing a given State. Most often, this is obtained by first calling project(). Returns -1 if no region contains the State.
Implemented in ompl::geometric::XXLPlanarDecomposition, and ompl::geometric::XXLPositionDecomposition.
◆ locateRegion() [2/2]
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pure virtual |
Return the region that this coordinate lies in. Returns -1 if this coord is out of bounds.
Implemented in ompl::geometric::XXLPlanarDecomposition, and ompl::geometric::XXLPositionDecomposition.
◆ numLayers()
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pure virtual |
Return the number of layers possible in this decomposition. Must be at least 1.
Implemented in PMXXLDecomposition, ompl::geometric::XXLPlanarDecomposition, and ompl::geometric::XXLPositionDecomposition.
◆ project() [1/2]
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pure virtual |
Project the given State into the XXLDecomposition.
Implemented in ompl::geometric::XXLPlanarDecomposition, ompl::geometric::XXLPositionDecomposition, and PMXXLDecomposition.
◆ project() [2/2]
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pure virtual |
Project the state into the decomposition and retrieve the region for all valid layers.
Implemented in ompl::geometric::XXLPlanarDecomposition, ompl::geometric::XXLPositionDecomposition, and PMXXLDecomposition.
◆ sampleFromRegion() [1/2]
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pure virtual |
Sample a state s from region r in the given layer.
Implemented in ompl::geometric::XXLPlanarDecomposition, ompl::geometric::XXLPositionDecomposition, and PMXXLDecomposition.
◆ sampleFromRegion() [2/2]
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pure virtual |
Sample a state s from region r in layer 0.
Implemented in ompl::geometric::XXLPlanarDecomposition, ompl::geometric::XXLPositionDecomposition, and PMXXLDecomposition.
◆ steerToRegion()
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inlinevirtual |
Definition at line 121 of file XXLDecomposition.h.
The documentation for this class was generated from the following file:
- ompl/geometric/planners/xxl/XXLDecomposition.h