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.
virtual int getNumProps(void) const
Returns the number of propositions in this propositional decomposition.
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...
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...