A GridDecomposition is a Decomposition implemented using a grid. More...
#include <GridDecomposition.h>
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_ |
A GridDecomposition is a Decomposition implemented using a grid.
Definition at line 52 of file GridDecomposition.h.
| 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.
