TangentBundleStateSpace.h
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...
Definition: TangentBundleStateSpace.cpp:72
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...
Definition: ConstrainedStateSpace.cpp:270
bool project(State *state) const
Reproject a state onto the surface of the manifold. Returns true if projection was successful,...
Definition: TangentBundleStateSpace.cpp:190
State * geodesicInterpolate(const std::vector< State * > &geodesic, double t) const override
Like interpolate(...), but interpolates between intermediate states already supplied in stateList fro...
Definition: TangentBundleStateSpace.cpp:180
void sanityChecks() const override
Do sanity checks, minus geodesic constraint satisfiability (as this is a lazy method).
Definition: TangentBundleStateSpace.cpp:60
A shared pointer wrapper for ompl::base::StateSpace.