Geodesic.cpp
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36 
37 /* Author: Andreas Orthey */
38 
39 #include <ompl/multilevel/datastructures/metrics/Geodesic.h>
40 #include <ompl/multilevel/datastructures/Projection.h>
41 using namespace ompl::multilevel;
43 
44 BundleSpaceMetricGeodesic::BundleSpaceMetricGeodesic(BundleSpaceGraph *bundleSpaceGraph) : BaseT(bundleSpaceGraph)
45 {
46 }
47 
48 double BundleSpaceMetricGeodesic::distanceBundle(const Configuration *xStart, const Configuration *xDest)
49 {
50  return bundleSpaceGraph_->getBundle()->distance(xStart->state, xDest->state);
51 }
52 
53 double BundleSpaceMetricGeodesic::distanceFiber(const Configuration * /*xStart*/, const Configuration * /*xDest*/)
54 {
55  throw "Computing distance along fiber requires explicit fiber space.";
56  return 0.0;
57 }
58 
59 double BundleSpaceMetricGeodesic::distanceBase(const Configuration *xStart, const Configuration *xDest)
60 {
61  if (bundleSpaceGraph_->getBaseDimension() > 0)
62  {
63  bundleSpaceGraph_->getProjection()->project(xStart->state, xBaseStartTmp_);
64  bundleSpaceGraph_->getProjection()->project(xDest->state, xBaseDestTmp_);
65  double d = bundleSpaceGraph_->getBase()->distance(xBaseStartTmp_, xBaseDestTmp_);
66  return d;
67  }
68  else
69  {
70  return 0.0;
71  }
72 }
73 
74 void BundleSpaceMetricGeodesic::interpolateBundle(const Configuration *q_from, const Configuration *q_to,
75  const double step, Configuration *q_interp)
76 {
77  bundleSpaceGraph_->getBundle()->getStateSpace()->interpolate(q_from->state, q_to->state, step, q_interp->state);
78 }
This namespace contains datastructures and planners to exploit multilevel abstractions,...
A graph on a Bundle-space.
const ompl::base::SpaceInformationPtr & getBundle() const
Get SpaceInformationPtr for Bundle.
const ompl::base::SpaceInformationPtr & getBase() const
Get SpaceInformationPtr for Base.
ProjectionPtr getProjection() const
Get ProjectionPtr from Bundle to Base.
unsigned int getBaseDimension() const
Dimension of Base Space.