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::State * | getState () const |
| Get state to which head points. | |
| const base::State * | getStateFiber () const |
| Get projection of state onto fiber space. | |
| const base::State * | getStateBase () const |
| Get projection of state onto base space. | |
| base::State * | getStateFiberNonConst () const |
| Get projection of state onto fiber space (non const) | |
| base::State * | getStateBaseNonConst () const |
| Get projection of state onto base space (non const) | |
| Configuration * | getConfiguration () const |
| Get state as configuration. | |
| void | setCurrent (Configuration *, double) |
| Setter for current configuration/state. | |
| Configuration * | getTargetConfiguration () const |
| Get target configuration. | |
| const base::State * | getStateTargetFiber () const |
| Get target configuration projected onto fiber. | |
| base::State * | getStateTargetFiberNonConst () 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::State * | getBaseStateAt (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 |
| PathRestriction * | getRestriction () 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.
The documentation for this class was generated from the following files: