Program Listing for File Decomposition.h

↰ Return to documentation for file (src/ompl/control/planners/syclop/Decomposition.h)

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2011, Rice University
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Rice University nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: Matt Maly */

#ifndef OMPL_CONTROL_PLANNERS_SYCLOP_DECOMPOSITION_
#define OMPL_CONTROL_PLANNERS_SYCLOP_DECOMPOSITION_

#include "ompl/base/spaces/RealVectorBounds.h"
#include "ompl/base/StateSampler.h"
#include "ompl/base/State.h"
#include "ompl/util/Console.h"
#include "ompl/util/Exception.h"
#include "ompl/util/ClassForward.h"
#include "ompl/util/RandomNumbers.h"

namespace ompl
{
    namespace control
    {

        OMPL_CLASS_FORWARD(Decomposition);

        class Decomposition
        {
        public:
            Decomposition(int dim, const base::RealVectorBounds &b) : dimension_(dim), bounds_(b)
            {
                if (dim > static_cast<int>(b.low.size()))
                    throw Exception("Decomposition", "argument 'dim' exceeds dimension of given bounds");
                else if (dim < static_cast<int>(b.low.size()))
                    OMPL_WARN("Decomposition: dimension of given bounds exceeds argument 'dim'. Using the first 'dim' "
                              "values of bounds");
            }

            virtual ~Decomposition() = default;

            virtual int getNumRegions() const = 0;

            virtual int getDimension() const
            {
                return dimension_;
            }

            virtual const base::RealVectorBounds &getBounds() const
            {
                return bounds_;
            }

            virtual double getRegionVolume(int rid) = 0;

            virtual int locateRegion(const base::State *s) const = 0;

            virtual void project(const base::State *s, std::vector<double> &coord) const = 0;

            virtual void getNeighbors(int rid, std::vector<int> &neighbors) const = 0;

            virtual void sampleFromRegion(int rid, RNG &rng, std::vector<double> &coord) const = 0;

            virtual void sampleFullState(const base::StateSamplerPtr &sampler, const std::vector<double> &coord,
                                         base::State *s) const = 0;

        protected:
            int dimension_;
            base::RealVectorBounds bounds_;
        };
    }
}
#endif