Public Types | Public Member Functions | Protected Attributes | Friends | List of all members
ompl::multilevel::PathSection Class Reference

Representation of a path section (not necessarily feasible). More...

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

Public Types

using Configuration = ompl::multilevel::BundleSpaceGraph::Configuration
 

Public Member Functions

 PathSection (PathRestriction *)
 
void interpolateL2 (HeadPtr &)
 
void interpolateL1FiberFirst (HeadPtr &)
 Interpolate along restriction using L1 metric. More...
 
void interpolateL1FiberLast (HeadPtr &)
 
bool checkMotion (HeadPtr &)
 Checks if section is feasible. More...
 
void sanityCheck ()
 checks if section is feasible
 
void sanityCheck (HeadPtr &)
 
base::State * at (int k) const
 Methods to access sections like std::vector.
 
const base::State * back () const
 
const base::State * front () const
 
unsigned int size () const
 
Configuration * addFeasibleSegment (Configuration *xLast, base::State *sNext)
 Add vertex for sNext and edge to xLast by assuming motion is valid

 
void addFeasibleGoalSegment (Configuration *xLast, Configuration *xGoal)
 
void print (std::ostream &) const
 

Protected Attributes

PathRestriction * restriction_
 
std::vector< base::State * > section_
 Interpolated section along restriction.
 
std::vector< int > sectionBaseStateIndices_
 
std::pair< base::State *, double > lastValid_
 Last valid state on feasible segment.
 
int lastValidIndexOnBasePath_
 
base::State * xBaseTmp_ {nullptr}
 
base::State * xBundleTmp_ {nullptr}
 
base::State * xFiberStart_ {nullptr}
 
base::State * xFiberGoal_ {nullptr}
 
base::State * xFiberTmp_ {nullptr}
 

Friends

std::ostream & operator<< (std::ostream &, const PathSection &)
 

Detailed Description

Representation of a path section (not necessarily feasible).

This class provides convenience methods to interpolate different path section over a given path restriction

Definition at line 128 of file PathSection.h.

Member Function Documentation

◆ checkMotion()

bool PathSection::checkMotion ( HeadPtr &  head)

Checks if section is feasible.

Return values
Trueif feasible and false if only partially feasible
BasepathheadptrReturn last valid

Definition at line 91 of file PathSection.cpp.

◆ interpolateL1FiberFirst()

void PathSection::interpolateL1FiberFirst ( HeadPtr &  head)

Interpolate along restriction using L1 metric.

(Fiber first)

_____________x | |

x

Definition at line 162 of file PathSection.cpp.

◆ interpolateL1FiberLast()

void PathSection::interpolateL1FiberLast ( HeadPtr &  head)

\brief Interpolate along restriction using L1 metric (Fiber Last)

x | |

x_____________|

Definition at line 208 of file PathSection.cpp.

◆ interpolateL2()

void PathSection::interpolateL2 ( HeadPtr &  head)

\brief Interpolate along restriction using L2 metric

____x ____/ ___/

x

Definition at line 250 of file PathSection.cpp.

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