All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator
Decomposition.h
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2011, Rice University
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Rice University nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Matt Maly */
00036 
00037 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_DECOMPOSITION_
00038 #define OMPL_CONTROL_PLANNERS_SYCLOP_DECOMPOSITION_
00039 
00040 #include "ompl/base/spaces/RealVectorBounds.h"
00041 #include "ompl/base/StateSampler.h"
00042 #include "ompl/base/State.h"
00043 #include "ompl/util/Console.h"
00044 #include "ompl/util/Exception.h"
00045 #include "ompl/util/ClassForward.h"
00046 
00047 namespace ompl
00048 {
00049     namespace control
00050     {
00051 
00053 
00054         ClassForward(Decomposition);
00056 
00061         class Decomposition
00062         {
00063         public:
00064 
00066             Decomposition(const int n, const std::size_t dim, const base::RealVectorBounds& b) : numRegions_(n), dimension_(dim), bounds_(b)
00067             {
00068                 if (dim > b.low.size())
00069                     throw Exception("Decomposition", "argument 'dim' exceeds dimension of given bounds");
00070                 else if (dim < b.low.size())
00071                     msg_.warn("Decomposition: dimension of given bounds exceeds argument 'dim'. Using the first 'dim' values of bounds");
00072             }
00073 
00074             virtual ~Decomposition()
00075             {
00076             }
00077 
00079             virtual int getNumRegions() const
00080             {
00081                 return numRegions_;
00082             }
00083 
00085             virtual std::size_t getDimension() const
00086             {
00087                 return dimension_;
00088             }
00089 
00091             virtual const base::RealVectorBounds& getBounds() const
00092             {
00093                 return bounds_;
00094             }
00095 
00097             virtual double getRegionVolume(const int rid) const = 0;
00098 
00101             virtual int locateRegion(const base::State* s) const = 0;
00102 
00104             virtual void project(const base::State* s, std::vector<double>& coord) const = 0;
00105 
00107             virtual void getNeighbors(const int rid, std::vector<int>& neighbors) const = 0;
00108 
00110             virtual void sampleFromRegion(const int rid, const base::StateSamplerPtr& sampler, base::State* s) = 0;
00111 
00113             virtual const base::RealVectorBounds& getRegionBounds(const int rid) = 0;
00114 
00115         protected:
00116 
00117             const int numRegions_;
00118             const std::size_t dimension_;
00119             const base::RealVectorBounds bounds_;
00120             msg::Interface msg_;
00121         };
00122     }
00123 }
00124 #endif
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends