PropositionalDecomposition.h

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/* Author: Matt Maly */

#ifndef OMPL_CONTROL_PLANNERS_LTL_PROPOSITIONALDECOMPOSITION_
#define OMPL_CONTROL_PLANNERS_LTL_PROPOSITIONALDECOMPOSITION_

#include "ompl/base/State.h"
#include "ompl/control/planners/syclop/Decomposition.h"
#include "ompl/control/planners/ltl/World.h"
#include "ompl/util/ClassForward.h"
#include "ompl/util/RandomNumbers.h"
#include "ompl/base/StateSampler.h"
#include <vector>

namespace ompl
{
    namespace control
    {

        OMPL_CLASS_FORWARD(PropositionalDecomposition);

        class PropositionalDecomposition : public Decomposition
        {
        public:
            PropositionalDecomposition(const DecompositionPtr& decomp);

            virtual ~PropositionalDecomposition(void);

            virtual World worldAtRegion(int rid) = 0;

            /* \todo section off the below methods with a general description of
                "wrapper methods that simply call the underlying decomposition */

            virtual int getNumRegions(void) const;

            virtual int getNumProps(void) const = 0;

            virtual double getRegionVolume(int rid);

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

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

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

            virtual void sampleFromRegion(int rid, RNG& rng, std::vector<double>& coord) const;

            virtual void sampleFullState(
                const base::StateSamplerPtr& sampler,
                const std::vector<double>& coord,
                base::State* s) const;

        protected:
            DecompositionPtr decomp_;
        };
    }
}
#endif