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TriangularDecomposition.h
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 RealVectorBounds.h:48
A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are ...
Definition Decomposition.h:63
virtual int getDimension() const
Returns the dimension of this Decomposition.
Definition Decomposition.h:83
virtual void project(const base::State *s, std::vector< double > &coord) const =0
Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition.
virtual const base::RealVectorBounds & getBounds() const
Returns the bounds of this Decomposition.
Definition Decomposition.h:89
A GridDecomposition is a Decomposition implemented using a grid.
Definition GridDecomposition.h:54
int locateRegion(const base::State *s) const override
Returns the index of the region containing a given State. Most often, this is obtained by first calli...
Definition GridDecomposition.cpp:102
GridDecomposition(int len, int dim, const base::RealVectorBounds &b)
Constructor. Creates a GridDecomposition as a hypercube with a given dimension, side length,...
Definition GridDecomposition.cpp:45
A TriangularDecomposition is a triangulation that ignores obstacles.
Definition TriangularDecomposition.h:56
TriangularDecomposition(const base::RealVectorBounds &bounds, std::vector< Polygon > holes=std::vector< Polygon >(), std::vector< Polygon > intRegs=std::vector< Polygon >())
Creates a TriangularDecomposition over the given bounds, which must be 2-dimensional....
Definition TriangularDecomposition.cpp:75
int locateRegion(const base::State *s) const override
Returns the index of the region containing a given State. Most often, this is obtained by first calli...
Definition TriangularDecomposition.cpp:152
virtual int createTriangles()
Helper method to triangulate the space and return the number of triangles.
Definition TriangularDecomposition.cpp:212
std::vector< int > intRegInfo_
Maps from triangle ID to index of Polygon in intReg_ that contains the triangle ID....
Definition TriangularDecomposition.h:143
int getRegionOfInterestAt(int triID) const
Returns the region of interest that contains the given triangle ID. Returns -1 if the triangle ID is ...
Definition TriangularDecomposition.cpp:129
void sampleFromRegion(int triID, RNG &rng, std::vector< double > &coord) const override
Samples a projected coordinate from a given region.
Definition TriangularDecomposition.cpp:172
void getNeighbors(int triID, std::vector< int > &neighbors) const override
Stores a given region's neighbors into a given vector.
Definition TriangularDecomposition.cpp:147
double getRegionVolume(int triID) override
Returns the volume of a given region in this Decomposition.
Definition TriangularDecomposition.cpp:134
int getNumRegions() const override
Returns the number of regions in this Decomposition.
Definition TriangularDecomposition.h:99
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66