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KoulesDecomposition.h
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34
35/* Author: Mark Moll */
36
37#ifndef DEMOS_KOULES_DECOMPOSITION_
38#define DEMOS_KOULES_DECOMPOSITION_
39
40#include <ompl/control/planners/syclop/GridDecomposition.h>
41
43{
44public:
45 // 16 x 16 x 16 grid
47 : GridDecomposition(16, 3, bounds3(space->as<KoulesStateSpace>()->getBounds()))
48 {
49 }
51 {
53 std::copy(bounds.low.begin(), bounds.low.begin() + 3, b.low.begin());
54 std::copy(bounds.high.begin(), bounds.high.begin() + 3, b.high.begin());
55 return b;
56 }
57 void project(const ompl::base::State *s, std::vector<double> &coord) const override
58 {
59 const double* pos = s->as<ompl::base::RealVectorStateSpace::StateType>()->values;
60 coord.resize(3);
61 coord[0] = pos[0];
62 coord[1] = pos[1];
63 coord[2] = pos[2];
64 }
65
66 void sampleFullState(const ompl::base::StateSamplerPtr &sampler,
67 const std::vector<double>& coord, ompl::base::State *s) const override
68 {
69 double* pos = s->as<ompl::base::RealVectorStateSpace::StateType>()->values;
70 sampler->sampleUniform(s);
71 pos[0] = coord[0];
72 pos[1] = coord[1];
73 pos[2] = coord[2];
74 }
75};
76
77#endif
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.
The lower and upper bounds for an Rn space.
std::vector< double > high
Upper bound.
std::vector< double > low
Lower bound.
A shared pointer wrapper for ompl::base::StateSampler.
A shared pointer wrapper for ompl::base::StateSpace.
Definition of an abstract state.
Definition: State.h:50
A GridDecomposition is a Decomposition implemented using a grid.
GridDecomposition(int len, int dim, const base::RealVectorBounds &b)
Constructor. Creates a GridDecomposition as a hypercube with a given dimension, side length,...