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| PMXXLDecomposition (ompl::base::SpaceInformationPtr si, const PlanarManipulator *manip, const ompl::base::RealVectorBounds &xyBounds, const std::vector< int > &xySlices, const int thetaSlices, std::vector< int > &projectedJoints, bool diagonalEdges) |
| Constructor. The end of the links in projectedJoints constitute the different layers to this decomposition.
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virtual int | numLayers () const |
| Return the number of layers possible in this decomposition. Must be at least 1.
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virtual bool | steerToRegion (int r, int layer, const ompl::base::State *start, std::vector< ompl::base::State * > &states) const |
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virtual bool | sampleFromRegion (int r, ompl::base::State *s, const ompl::base::State *seed=nullptr) const |
| Sample a valid state s from region r in layer 0.
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void | initializePartialManipulator (int layer, const double *seedAngles) const |
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void | sampleEndEffectorPose (int region, Eigen::Affine2d &pose) const |
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void | initializePartialSeed (int layer, const double *seedAngles, std::vector< double > &partialSeed) const |
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bool | sampleRemainingJoints (int layer, ompl::base::State *s, const double *const seedVals, const std::vector< double > &partialSln) const |
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virtual bool | sampleFromRegion (int r, ompl::base::State *s, const ompl::base::State *seed, int layer) const |
| Sample a state s from region r in the given layer.
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virtual void | project (const ompl::base::State *s, std::vector< double > &coord, int layer=0) const |
| Project the given State into the XXLDecomposition.
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virtual void | project (const ompl::base::State *s, std::vector< int > &layers) const |
| Project the state into the decomposition and retrieve the region for all valid layers.
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| XXLPlanarDecomposition (const base::RealVectorBounds &xyBounds, const std::vector< int > &xySlices, const int thetaSlices, bool diagonalEdges=false) |
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| XXLPlanarDecomposition (const base::RealVectorBounds &xyBounds, const std::vector< int > &xySlices, const int thetaSlices, double thetaLowerBound, double thetaUpperBound, bool diagonalEdges=false) |
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virtual int | getNumRegions () const |
| Return the total number of regions in this decomposition.
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virtual int | getDimension () const |
| Return the dimension of this HiLoDecomposition.
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virtual int | numLayers () const =0 |
| Return the number of layers possible in this decomposition. Must be at least 1.
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virtual int | locateRegion (const base::State *s) const |
| Return the id of the region that this state falls in.
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virtual int | locateRegion (const std::vector< double > &coord) const |
| Return the id of the region that this coordinate falls in.
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virtual void | getNeighbors (int rid, std::vector< int > &neighbors) const |
| Stores the given region's neighbors into a given vector.
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virtual void | getNeighborhood (int rid, std::vector< int > &neighborhood) const |
| Stores the given region's neighbors into the vector. This returns the 8-connected grid neighbors of the cell, regardless of whether diagonal edges exist.
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virtual double | distanceHeuristic (int r1, int r2) const |
| An admissible and consistent distance heuristic between two regions. Manhattan distance on grid.
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virtual bool | sampleFromRegion (int r, base::State *s, const base::State *seed=nullptr) const =0 |
| Sample a state s from region r in layer 0.
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virtual bool | sampleFromRegion (int r, base::State *s, const base::State *seed, int layer) const =0 |
| Sample a state s from region r in the given layer.
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virtual void | project (const base::State *s, std::vector< double > &coord, int layer=0) const =0 |
| Project the given State into the XXLDecomposition.
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virtual void | project (const base::State *s, std::vector< int > &layers) const =0 |
| Project the state into the decomposition and retrieve the region for all valid layers.
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void | ridToGridCell (int rid, std::vector< int > &cell) const |
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int | gridCellToRid (const std::vector< int > &cell) const |
| Return the region id corresponding to the (discrete) grid cell coordinates.
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int | coordToRegion (const std::vector< double > &coord) const |
| Return the region id of the given coordinate in the decomposition.
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int | coordToRegion (const double *coord) const |
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bool | hasDiagonalEdges () const |
| Return true if the decomposition has diagonal edges.
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| XXLDecomposition () |
| Constructor.
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virtual int | getNumRegions () const =0 |
| Returns the number of regions in this XXLDecomposition.
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virtual int | getDimension () const =0 |
| Return the dimension of this XXLDecomposition.
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virtual int | numLayers () const =0 |
| Return the number of layers possible in this decomposition. Must be at least 1.
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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.
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virtual int | locateRegion (const std::vector< double > &coord) const =0 |
| Return the region that this coordinate lies in. Returns -1 if this coord is out of bounds.
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virtual void | getNeighbors (int rid, std::vector< int > &neighbors) const =0 |
| Stores the given region's neighbors into a given vector. These are adjacent neighbors.
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virtual void | getNeighborhood (int rid, std::vector< int > &neighborhood) const |
| Return a list of regions in the neighborhood of rid. This method is intended to retrieve all regions with in a 'radius'. This method should return a superset of getNeighbors (or equal). The neighborhood may or not be adjacent regions. Think of this as the 8-connected neighborhood of a grid, and getNeighbors as the 4-connected neighborhood of a grid.
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virtual double | distanceHeuristic (int r1, int r2) const =0 |
| An admissible and consistent distance heuristic between two regions.
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virtual bool | sampleFromRegion (int r, base::State *s, const base::State *seed=nullptr) const =0 |
| Sample a state s from region r in layer 0.
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virtual bool | sampleFromRegion (int r, base::State *s, const base::State *seed, int layer) const =0 |
| Sample a state s from region r in the given layer.
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virtual void | project (const base::State *s, std::vector< double > &coord, int layer=0) const =0 |
| Project the given State into the XXLDecomposition.
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virtual void | project (const base::State *s, std::vector< int > &layers) const =0 |
| Project the state into the decomposition and retrieve the region for all valid layers.
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virtual bool | canSteer () const |
| Returns true if the method steerToRegion is available.
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virtual bool | steerToRegion (int, int, const ompl::base::State *, std::vector< ompl::base::State * > &) const |
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