TangentBundleStateSpace.h
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34 
35 /* Author: Zachary Kingston */
36 
37 #ifndef OMPL_BASE_SPACES_TANGENTBUNDLE_STATE_SPACE_
38 #define OMPL_BASE_SPACES_TANGENTBUNDLE_STATE_SPACE_
39 
40 #include "ompl/base/spaces/constraint/AtlasStateSpace.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
47 
48  OMPL_CLASS_FORWARD(TangentBundleStateSpace);
50 
80  class TangentBundleStateSpace : public AtlasStateSpace
81  {
82  public:
83  TangentBundleStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint);
84 
87  void sanityChecks() const override;
88 
97  bool discreteGeodesic(const State *from, const State *to, bool interpolate = false,
98  std::vector<State *> *geodesic = nullptr) const override;
99 
108  State *geodesicInterpolate(const std::vector<State *> &geodesic, double t) const override;
109 
112  bool project(State *state) const;
113  };
114  }
115 }
116 
117 #endif
bool discreteGeodesic(const State *from, const State *to, bool interpolate=false, std::vector< State * > *geodesic=nullptr) const override
Traverse the manifold from from toward to. Returns true if we reached to, and false if we stopped ear...
A shared pointer wrapper for ompl::base::Constraint.
void interpolate(const State *from, const State *to, double t, State *state) const override
Find a state between from and to around time t, where t = 0 is from, and t = 1 is the final state rea...
bool project(State *state) const
Reproject a state onto the surface of the manifold. Returns true if projection was successful,...
State * geodesicInterpolate(const std::vector< State * > &geodesic, double t) const override
Like interpolate(...), but interpolates between intermediate states already supplied in stateList fro...
void sanityChecks() const override
Do sanity checks, minus geodesic constraint satisfiability (as this is a lazy method).
A shared pointer wrapper for ompl::base::StateSpace.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21