37 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_GRIDDECOMPOSITION_
38 #define OMPL_CONTROL_PLANNERS_SYCLOP_GRIDDECOMPOSITION_
41 #include <boost/shared_ptr.hpp>
42 #include <boost/unordered_map.hpp>
43 #include "ompl/base/spaces/RealVectorBounds.h"
44 #include "ompl/base/State.h"
45 #include "ompl/control/planners/syclop/Decomposition.h"
67 virtual void getNeighbors(
const int rid, std::vector<int>& neighbors)
const;
85 unsigned int dim, std::vector <int> &candidate)
const;
89 boost::unordered_map<int, boost::shared_ptr<base::RealVectorBounds> > regToBounds_;
93 int calcNumRegions(
const int len,
const std::size_t dim)
const;