XXLPlanarDecomposition.h
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2015, Rice University
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Rice University nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Author: Ryan Luna */
36
37#ifndef OMPL_GEOMETRIC_PLANNERS_XXL_XXLPLANARDECOMPOSITION_
38#define OMPL_GEOMETRIC_PLANNERS_XXL_XXLPLANARDECOMPOSITION_
39
40#include <boost/math/constants/constants.hpp>
41#include "ompl/geometric/planners/xxl/XXLDecomposition.h"
42#include "ompl/util/RandomNumbers.h"
43
44namespace ompl
45{
46 namespace geometric
47 {
48 // A decomposition of a 2D planar space (position and orientation in 2D)
49 // The orientation part of the decomposition is circular (2pi = 0)
51 {
52 public:
53 XXLPlanarDecomposition(const base::RealVectorBounds& xyBounds, const std::vector<int>& xySlices,
54 const int thetaSlices, bool diagonalEdges = false);
55
56 XXLPlanarDecomposition(const base::RealVectorBounds& xyBounds, const std::vector<int>& xySlices,
57 const int thetaSlices, double thetaLowerBound, double thetaUpperBound, bool diagonalEdges = false);
58
60
62 virtual int getNumRegions() const;
63
65 virtual int getDimension() const;
66
68 virtual int numLayers() const = 0;
69
71 virtual int locateRegion(const base::State *s) const;
72
74 virtual int locateRegion(const std::vector<double>& coord) const;
75
77 virtual void getNeighbors(int rid, std::vector<int>& neighbors) const;
78
81 virtual void getNeighborhood(int rid, std::vector<int>& neighborhood) const;
82
84 virtual double distanceHeuristic(int r1, int r2) const;
85
87 virtual bool sampleFromRegion(int r, base::State* s, const base::State* seed = nullptr) const = 0;
88
90 virtual bool sampleFromRegion(int r, base::State* s, const base::State* seed, int layer) const = 0;
91
93 virtual void project(const base::State *s, std::vector<double>& coord, int layer = 0) const = 0;
94
96 virtual void project(const base::State *s, std::vector<int>& layers) const = 0;
97
98
99
100 // \brief Return the (discrete) grid cell coordinates of the given region id
101 void ridToGridCell(int rid, std::vector<int>& cell) const;
102
104 int gridCellToRid(const std::vector<int>& cell) const;
105
107 int coordToRegion(const std::vector<double>& coord) const;
108 int coordToRegion(const double* coord) const;
109
111 bool hasDiagonalEdges() const;
112
113 protected:
114 // Create the new graph structure, mostly edge weights
115 void constructGraph();
116
117 // Compute the neighbors of rid (no diagonal edges)
118 void getNonDiagonalNeighbors(int rid, std::vector<int>& neighbors) const;
119
120 // Compute the neighbors of rid (including diagonal edges)
121 void getDiagonalNeighbors(int rid, std::vector<int>& neighbors) const;
122
123 // Sample a point in the SE(2) decomposition (position and orientation)
124 void sampleCoordinateFromRegion(int r, std::vector<double>& coord) const;
125 void sampleCoordinateFromRegion(int r, double* coord) const;
126
127 // If true, the decomposition has diagonal edges
128 bool diagonalEdges_;
129
130 // The bounds on the Euclidean part of the decomposition
131 base::RealVectorBounds xyBounds_;
132 // The bounds on the orientation part of the decomposition
133 double thetaLow_{-boost::math::constants::pi<double>()};
134 double thetaHigh_{boost::math::constants::pi<double>()};
135
136 // The number of splits in the X and Y dimensions
137 std::vector<int> xySlices_;
138 // The number of splits in orientation
139 int thetaSlices_;
140
141 // The total number of regions
142 int numRegions_;
143
144 // The total range of x and y
145 double dx_, dy_;
146 // The size of an individual cell in x and y
147 double xSize_, ySize_;
148
149 // The total range of theta
150 double dTheta_;
151 // The size of an individual cell in theta
152 double thetaSize_;
153
154 // The realized dimension of this decomposition (from 1-3)
155 int dimension_;
156
157 // Random number generator.
158 mutable ompl::RNG rng_;
159 };
160 }
161}
162
163
164#endif
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 of an abstract state.
Definition: State.h:50
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.
virtual int getDimension() const
Return the dimension of this HiLoDecomposition.
int coordToRegion(const std::vector< double > &coord) const
Return the region id of the given coordinate in the decomposition.
virtual double distanceHeuristic(int r1, int r2) const
An admissible and consistent distance heuristic between two regions. Manhattan distance on grid.
virtual int locateRegion(const base::State *s) const
Return the id of the region that this state falls in.
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.
virtual int getNumRegions() const
Return the total number of regions in this decomposition.
virtual void getNeighbors(int rid, std::vector< int > &neighbors) const
Stores the given region's neighbors into a given vector.
virtual void getNeighborhood(int rid, std::vector< int > &neighborhood) const
Stores the given region's neighbors into the vector. This returns the 8-connected grid neighbors of t...
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.
int gridCellToRid(const std::vector< int > &cell) const
Return the region id corresponding to the (discrete) grid cell coordinates.
virtual void project(const base::State *s, std::vector< double > &coord, int layer=0) const =0
Project the given State into the XXLDecomposition.
bool hasDiagonalEdges() const
Return true if the decomposition has diagonal edges.
virtual int numLayers() const =0
Return the number of layers possible in this decomposition. Must be at least 1.
Main namespace. Contains everything in this library.