Inheritance diagram for ompl::multilevel::FindSectionSideStep:

Public Member Functions
	FindSectionSideStep (PathRestriction *)

virtual bool	solve (HeadPtr &head) override

bool	recursiveSideStep (HeadPtr &head, bool interpolateFiberFirst=true, unsigned int depth=0)

Public Member Functions inherited from ompl::multilevel::FindSection
	FindSection (PathRestriction *)

bool	findFeasibleStateOnFiber (const base::State xBase, base::State xBundle)
	Sample state on fiber while keeping base state fixed.

bool	tripleStep (HeadPtr &head, const base::State *sBundleGoal, double locationOnBasePathGoal)
	Triple step pattern.

Additional Inherited Members
Protected Attributes inherited from ompl::multilevel::FindSection
PathRestriction *	restriction_
	Pointer to associated bundle space.

base::State *	xBaseTmp_ {nullptr}

base::State *	xBundleTmp_ {nullptr}

base::State *	xFiberStart_ {nullptr}

base::State *	xFiberGoal_ {nullptr}

base::State *	xFiberTmp_ {nullptr}

ParameterExponentialDecay	neighborhoodRadiusBaseSpace_
	Radius of restriction neighborhood.

double	neighborhoodRadiusBaseSpaceLambda_ {1.0}

double	neighborhoodRadiusBaseSpaceTarget_ {0.5}

double	validBaseSpaceSegmentLength_
	Step size to check validity.

double	validBundleSpaceSegmentLength_

double	validFiberSpaceSegmentLength_

Detailed Description

Short description: FindSectionSideStep tries to solve the find section problem by going along an L1 interpolation towards the goal while no collision occurs. Once a collision occurs, we sample randomly on the current fiber and make side steps towards feasible samples. We then recursively continue from those samples.

External documentation: Andreas Orthey and Sohaib Akbar and Marc Toussaint, Multilevel Motion Planning: A Fiber Bundle Formulation, in arXiv:2007.09435 [cs.RO], 2020, [PDF]

Definition at line 132 of file FindSectionSideStep.h.

The documentation for this class was generated from the following files:

Public Member Functions