Program Listing for File XXLPlanarDecomposition.h

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/* Author: Ryan Luna */

#ifndef OMPL_GEOMETRIC_PLANNERS_XXL_XXLPLANARDECOMPOSITION_
#define OMPL_GEOMETRIC_PLANNERS_XXL_XXLPLANARDECOMPOSITION_

#include <boost/math/constants/constants.hpp>
#include "ompl/geometric/planners/xxl/XXLDecomposition.h"
#include "ompl/util/RandomNumbers.h"

namespace ompl
{
    namespace geometric
    {
        // A decomposition of a 2D planar space (position and orientation in 2D)
        // The orientation part of the decomposition is circular (2pi = 0)
        class XXLPlanarDecomposition : public XXLDecomposition
        {
        public:
            XXLPlanarDecomposition(const base::RealVectorBounds& xyBounds, const std::vector<int>& xySlices,
                                   const int thetaSlices, bool diagonalEdges = false);

            XXLPlanarDecomposition(const base::RealVectorBounds& xyBounds, const std::vector<int>& xySlices,
                                   const int thetaSlices, double thetaLowerBound, double thetaUpperBound, bool diagonalEdges = false);

            virtual ~XXLPlanarDecomposition();

            virtual int getNumRegions() const;

            virtual int getDimension() const;

            virtual int numLayers() const = 0;

            virtual int locateRegion(const base::State *s) const;

            virtual int locateRegion(const std::vector<double>& coord) const;

            virtual void getNeighbors(int rid, std::vector<int>& neighbors) const;

            virtual void getNeighborhood(int rid, std::vector<int>& neighborhood) const;

            virtual double distanceHeuristic(int r1, int r2) const;

            virtual bool sampleFromRegion(int r, base::State* s, const base::State* seed = nullptr) const = 0;

            virtual bool sampleFromRegion(int r, base::State* s, const base::State* seed, int layer) const = 0;

            virtual void project(const base::State *s, std::vector<double>& coord, int layer = 0) const = 0;

            virtual void project(const base::State *s, std::vector<int>& layers) const = 0;



            // \brief Return the (discrete) grid cell coordinates of the given region id
            void ridToGridCell(int rid, std::vector<int>& cell) const;

            int gridCellToRid(const std::vector<int>& cell) const;

            int coordToRegion(const std::vector<double>& coord) const;
            int coordToRegion(const double* coord) const;

            bool hasDiagonalEdges() const;

        protected:
            // Create the new graph structure, mostly edge weights
            void constructGraph();

            // Compute the neighbors of rid (no diagonal edges)
            void getNonDiagonalNeighbors(int rid, std::vector<int>& neighbors) const;

            // Compute the neighbors of rid (including diagonal edges)
            void getDiagonalNeighbors(int rid, std::vector<int>& neighbors) const;

            // Sample a point in the SE(2) decomposition (position and orientation)
            void sampleCoordinateFromRegion(int r, std::vector<double>& coord) const;
            void sampleCoordinateFromRegion(int r, double* coord) const;

            // If true, the decomposition has diagonal edges
            bool diagonalEdges_;

            // The bounds on the Euclidean part of the decomposition
            base::RealVectorBounds xyBounds_;
            // The bounds on the orientation part of the decomposition
            double thetaLow_{-boost::math::constants::pi<double>()};
            double thetaHigh_{boost::math::constants::pi<double>()};

            // The number of splits in the X and Y dimensions
            std::vector<int> xySlices_;
            // The number of splits in orientation
            int thetaSlices_;

            // The total number of regions
            int numRegions_;

            // The total range of x and y
            double dx_, dy_;
            // The size of an individual cell in x and y
            double xSize_, ySize_;

            // The total range of theta
            double dTheta_;
            // The size of an individual cell in theta
            double thetaSize_;

            // The realized dimension of this decomposition (from 1-3)
            int dimension_;

            // Random number generator.
            mutable ompl::RNG rng_;
        };
    }
}


#endif