ompl::control::TriangularDecomposition Class Reference
A TriangularDecomposition is a triangulation that ignores obstacles. More...
#include <ompl/extensions/triangle/TriangularDecomposition.h>
Inheritance diagram for ompl::control::TriangularDecomposition:
Classes | |
| class | LocatorGrid |
| struct | Polygon |
| struct | Triangle |
| struct | Vertex |
Public Member Functions | |
| TriangularDecomposition (const base::RealVectorBounds &bounds, const std::vector< Polygon > &holes=std::vector< Polygon >(), const std::vector< Polygon > &intRegs=std::vector< Polygon >()) | |
| Creates a TriangularDecomposition over the given bounds, which must be 2-dimensional. The underlying mesh will be a conforming Delaunay triangulation. The triangulation will ignore any obstacles, given as a list of polygons. The triangulation will respect the boundaries of any regions of interest, given as a list of polygons. No two obstacles may overlap, and no two regions of interest may overlap. | |
| virtual int | getNumRegions (void) const |
| Returns the number of regions in this Decomposition. | |
| virtual double | getRegionVolume (int triID) |
| Returns the volume of a given region in this Decomposition. | |
| virtual void | getNeighbors (int triID, 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(). Returns -1 if no region contains the State. | |
| virtual void | sampleFromRegion (int triID, RNG &rng, std::vector< double > &coord) const |
| Samples a projected coordinate from a given region. | |
| void | setup (void) |
| void | addHole (const Polygon &hole) |
| void | addRegionOfInterest (const Polygon ®ion) |
| int | getNumHoles (void) const |
| int | getNumRegionsOfInterest (void) const |
| const std::vector< Polygon > & | getHoles (void) const |
| const std::vector< Polygon > & | getAreasOfInterest (void) const |
| int | getRegionOfInterestAt (int triID) const |
| Returns the region of interest that contains the given triangle ID. Returns -1 if the triangle ID is not within a region of interest. | |
| void | print (std::ostream &out) const |
Protected Member Functions | |
| virtual int | createTriangles () |
| Helper method to triangulate the space and return the number of triangles. | |
Protected Attributes | |
| std::vector< Triangle > | triangles_ |
| std::vector< Polygon > | holes_ |
| std::vector< Polygon > | intRegs_ |
| std::vector< int > | intRegInfo_ |
| Maps from triangle ID to index of Polygon in intReg_ that contains the triangle ID. Maps to -1 if the triangle ID is not in a region of interest. | |
| double | triAreaPct_ |
Detailed Description
A TriangularDecomposition is a triangulation that ignores obstacles.
Definition at line 55 of file TriangularDecomposition.h.
The documentation for this class was generated from the following files:
- ompl/extensions/triangle/TriangularDecomposition.h
- ompl/extensions/triangle/src/TriangularDecomposition.cpp