PropositionalTriangularDecomposition.h
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34
35/* Author: Matt Maly */
36
37#ifndef OMPL_EXTENSIONS_TRIANGLE_PROPOSITIONALTRIANGULARDECOMPOSITION_
38#define OMPL_EXTENSIONS_TRIANGLE_PROPOSITIONALTRIANGULARDECOMPOSITION_
39
40#include "ompl/extensions/triangle/TriangularDecomposition.h"
41#include "ompl/control/planners/ltl/PropositionalDecomposition.h"
42#include "ompl/control/planners/ltl/World.h"
43#include "ompl/util/RandomNumbers.h"
44#include "ompl/base/State.h"
45#include "ompl/base/StateSampler.h"
46#include "ompl/base/spaces/RealVectorBounds.h"
47#include <ostream>
48#include <vector>
49
50namespace ompl
51{
52 namespace control
53 {
59 {
60 public:
63
71 const std::vector<Polygon> &holes = std::vector<Polygon>(),
72 const std::vector<Polygon> &props = std::vector<Polygon>());
73
74 ~PropositionalTriangularDecomposition() override = default;
75
76 int getNumProps() const override;
77
78 World worldAtRegion(int triID) override;
79
80 void setup();
81
82 void addHole(const Polygon &hole);
83
84 void addProposition(const Polygon &prop);
85
86 const std::vector<Polygon> &getHoles() const;
87
88 const std::vector<Polygon> &getPropositions() const;
89
90 // Debug method: prints this decomposition as a list of polygons
91 void print(std::ostream &out) const;
92
93 protected:
94 TriangularDecomposition *triDecomp_;
95 };
96 }
97}
98#endif
The lower and upper bounds for an Rn space.
A propositional decomposition wraps a given Decomposition with a region-to-proposition assignment ope...
A PropositionalTriangularDecomposition is a triangulation that ignores obstacles and respects proposi...
int getNumProps() const override
Returns the number of propositions in this propositional decomposition.
PropositionalTriangularDecomposition(const base::RealVectorBounds &bounds, const std::vector< Polygon > &holes=std::vector< Polygon >(), const std::vector< Polygon > &props=std::vector< Polygon >())
Creates a PropositionalTriangularDecomposition over the given bounds, which must be 2-dimensional....
World worldAtRegion(int triID) override
Returns the World corresponding to a given region.
A TriangularDecomposition is a triangulation that ignores obstacles.
A class to represent an assignment of boolean values to propositions. A World can be partially restri...
Definition: World.h:72
Main namespace. Contains everything in this library.