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 
50 namespace ompl
51 {
52  namespace control
53  {
59  {
60  public:
63 
71  const base::RealVectorBounds& bounds,
72  const std::vector<Polygon>& holes = std::vector<Polygon>(),
73  const std::vector<Polygon>& props = std::vector<Polygon>()
74  );
75 
76  virtual ~PropositionalTriangularDecomposition(void) {}
77 
78  virtual int getNumProps(void) const;
79 
80  virtual World worldAtRegion(int triID);
81 
82  void setup(void);
83 
84  void addHole(const Polygon& hole);
85 
86  void addProposition(const Polygon& prop);
87 
88  const std::vector<Polygon>& getHoles(void) const;
89 
90  const std::vector<Polygon>& getPropositions(void) const;
91 
92  //Debug method: prints this decomposition as a list of polygons
93  void print(std::ostream& out) const;
94 
95  protected:
96  TriangularDecomposition* triDecomp_;
97  };
98  }
99 }
100 #endif
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:51
virtual World worldAtRegion(int triID)
Returns the World corresponding to a given region.
A propositional decomposition wraps a given Decomposition with a region-to-proposition assignment ope...
Main namespace. Contains everything in this library.
Definition: Cost.h:42
A PropositionalTriangularDecomposition is a triangulation that ignores obstacles and respects proposi...
virtual int getNumProps(void) const
Returns the number of propositions in this propositional decomposition.
The lower and upper bounds for an Rn space.
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...