PropositionalDecomposition.h
virtual int getNumRegions(void) const
Returns the number of regions in this propositional decomposition's underlying decomposition.
Definition: PropositionalDecomposition.cpp:20
virtual void sampleFullState(const base::StateSamplerPtr &sampler, const std::vector< double > &coord, base::State *s) const
Samples a State using a projected coordinate and a StateSampler.
Definition: PropositionalDecomposition.cpp:50
A class to represent an assignment of boolean values to propositions. A World can be partially restri...
Definition: World.h:51
virtual int getNumProps(void) const =0
Returns the number of propositions in this propositional decomposition.
A boost shared pointer wrapper for ompl::base::StateSampler.
A Decomposition is a partition of a bounded Euclidean space into a fixed number of regions which are ...
Definition: Decomposition.h:62
virtual ~PropositionalDecomposition(void)
Clears all memory belonging to this propositional decomposition.
Definition: PropositionalDecomposition.cpp:16
virtual World worldAtRegion(int rid)=0
Returns the World corresponding to a given region.
virtual int locateRegion(const base::State *s) const
Returns the region of the underlying decomposition that contains a given State.
Definition: PropositionalDecomposition.cpp:30
virtual void getNeighbors(int rid, std::vector< int > &neighbors) const
Stores a given region's neighbors into a given vector.
Definition: PropositionalDecomposition.cpp:40
A propositional decomposition wraps a given Decomposition with a region-to-proposition assignment ope...
Definition: PropositionalDecomposition.h:63
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
virtual double getRegionVolume(int rid)
Returns the volume of a given region.
Definition: PropositionalDecomposition.cpp:25
virtual void sampleFromRegion(int rid, RNG &rng, std::vector< double > &coord) const
Samples a projected coordinate from a given region.
Definition: PropositionalDecomposition.cpp:45
virtual void project(const base::State *s, std::vector< double > &coord) const
Project a given State to a set of coordinates in R^k, where k is the dimension of this Decomposition...
Definition: PropositionalDecomposition.cpp:35
PropositionalDecomposition(const DecompositionPtr &decomp)
Creates a propositional decomposition wrapped around a given decomposition with a given number of pro...
Definition: PropositionalDecomposition.cpp:10
A boost shared pointer wrapper for ompl::control::Decomposition.