BundleSpaceMetric.cpp
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36 
37 /* Author: Andreas Orthey */
38 
39 #include <ompl/multilevel/datastructures/metrics/BundleSpaceMetric.h>
40 
41 ompl::multilevel::BundleSpaceMetric::BundleSpaceMetric(BundleSpaceGraph *bundleSpaceGraph)
42  : bundleSpaceGraph_(bundleSpaceGraph)
43 {
44  if (bundleSpaceGraph_->getBaseDimension() > 0)
45  {
46  xBaseStartTmp_ = bundleSpaceGraph_->getBase()->allocState();
47  xBaseDestTmp_ = bundleSpaceGraph_->getBase()->allocState();
48  }
49 }
50 ompl::multilevel::BundleSpaceMetric::~BundleSpaceMetric()
51 {
52  if (bundleSpaceGraph_->getBaseDimension() > 0)
53  {
54  bundleSpaceGraph_->getBase()->freeState(xBaseStartTmp_);
55  bundleSpaceGraph_->getBase()->freeState(xBaseDestTmp_);
56  }
57 }
58 
59 void ompl::multilevel::BundleSpaceMetric::clear()
60 {
61 }
62 
63 void ompl::multilevel::BundleSpaceMetric::interpolateBundle(const Configuration *q_from, const Configuration *q_to,
64  Configuration *q_interp)
65 {
66  interpolateBundle(q_from, q_to, 1.0, q_interp);
67 }
68 
69 void ompl::multilevel::BundleSpaceMetric::interpolateBundle(const Configuration *q_from, Configuration *q_to)
70 {
71  interpolateBundle(q_from, q_to, q_to);
72 }