ompl::multilevel::Head Class Reference

A pointer to a specific location on the base path of the path restriction. More...

#include <ompl/multilevel/datastructures/pathrestriction/Head.h>

Public Member Functions

 Head (PathRestriction *restriction, Configuration *const xCurrent, Configuration *const xTarget)
 
 Head (const Head &rhs)
 
const base::StategetState () const
 Get state to which head points.
 
const base::StategetStateFiber () const
 Get projection of state onto fiber space.
 
const base::StategetStateBase () const
 Get projection of state onto base space.
 
base::StategetStateFiberNonConst () const
 Get projection of state onto fiber space (non const)
 
base::StategetStateBaseNonConst () const
 Get projection of state onto base space (non const)
 
ConfigurationgetConfiguration () const
 Get state as configuration.
 
void setCurrent (Configuration *, double)
 Setter for current configuration/state.
 
ConfigurationgetTargetConfiguration () const
 Get target configuration.
 
const base::StategetStateTargetFiber () const
 Get target configuration projected onto fiber.
 
base::StategetStateTargetFiberNonConst () const
 Get target configuration projected onto fiber (non const)
 
int getNumberOfRemainingStates ()
 Remaining discrete states starting at head (including head) and relative to the head.
 
const base::StategetBaseStateAt (int k) const
 Get target configuration projected onto fiber (non const)
 
int getBaseStateIndexAt (int k) const
 Get base state at base path index.
 
double getLocationOnBasePath () const
 Get location in [0,1] on base path to which head points.
 
void setLocationOnBasePath (double d)
 Set location of head along base path.
 
int getNextValidBasePathIndex () const
 Get next base path index (after head)
 
int getLastValidBasePathIndex () const
 Get last base path index (before head)
 
void setLastValidBasePathIndex (int k)
 
void print (std::ostream &) const
 
PathRestrictiongetRestriction () const
 Get underlying path restriction.
 

Friends

std::ostream & operator<< (std::ostream &, const Head &)
 Pipe head to stream.
 

Detailed Description

A pointer to a specific location on the base path of the path restriction.

This class contains information about the current location over the base path, including the distance traveled from start, the last index of the base path states and information about the fiber space and fiber element at the current location. Can be used to interpolate from current location to goal of path restriction.

Definition at line 131 of file Head.h.


The documentation for this class was generated from the following files:
  • ompl/multilevel/datastructures/pathrestriction/Head.h
  • ompl/multilevel/datastructures/pathrestriction/src/Head.cpp