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| KoulesDecomposition (const ompl::base::StateSpacePtr &space) |
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void | project (const ompl::base::State *s, std::vector< double > &coord) const override |
| Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition. More...
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void | sampleFullState (const ompl::base::StateSamplerPtr &sampler, const std::vector< double > &coord, ompl::base::State *s) const override |
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| GridDecomposition (int len, int dim, const base::RealVectorBounds &b) |
| Constructor. Creates a GridDecomposition as a hypercube with a given dimension, side length, and bounds. The cells of the hypercube are referenced by integer coordinates of the form \((r_1,\ldots,r_k)\), where \( 0 \leq r_i < \texttt{len}\). More...
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int | getNumRegions () const override |
| Returns the number of regions in this Decomposition. More...
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double | getRegionVolume (int) override |
| Returns the volume of a given region in this Decomposition. More...
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void | getNeighbors (int rid, std::vector< int > &neighbors) const override |
| Stores a given region's neighbors into a given vector. More...
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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 calling project(). Returns -1 if no region contains the State. More...
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void | sampleFromRegion (int rid, RNG &rng, std::vector< double > &coord) const override |
| Samples a projected coordinate from a given region. More...
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| Decomposition (int dim, const base::RealVectorBounds &b) |
| Constructor. Creates a Decomposition with a given dimension and a given set of bounds. Accepts as an optional argument a given number of regions. More...
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virtual int | getNumRegions () const =0 |
| Returns the number of regions in this Decomposition. More...
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virtual int | getDimension () const |
| Returns the dimension of this Decomposition. More...
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virtual const base::RealVectorBounds & | getBounds () const |
| Returns the bounds of this Decomposition. More...
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virtual double | getRegionVolume (int rid)=0 |
| Returns the volume of a given region in this Decomposition. More...
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virtual int | locateRegion (const base::State *s) const =0 |
| Returns the index of the region containing a given State. Most often, this is obtained by first calling project(). Returns -1 if no region contains the State. More...
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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. More...
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virtual void | getNeighbors (int rid, std::vector< int > &neighbors) const =0 |
| Stores a given region's neighbors into a given vector. More...
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virtual void | sampleFromRegion (int rid, RNG &rng, std::vector< double > &coord) const =0 |
| Samples a projected coordinate from a given region. More...
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virtual void | sampleFullState (const base::StateSamplerPtr &sampler, const std::vector< double > &coord, base::State *s) const =0 |
| Samples a State using a projected coordinate and a StateSampler. More...
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Definition at line 42 of file KoulesDecomposition.h.