BundleSpaceMetric.h
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36 
37 /* Author: Andreas Orthey */
38 
39 #ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_METRICS_BUNDLEMETRIC_
40 #define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_METRICS_BUNDLEMETRIC_
41 #include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
42 
43 namespace ompl
44 {
45  namespace multilevel
46  {
48 
49  OMPL_CLASS_FORWARD(BundleSpaceGraph);
51 
52  class BundleSpaceMetric
53  {
54  public:
56  BundleSpaceMetric() = delete;
57  BundleSpaceMetric(BundleSpaceGraph *);
58 
59  virtual ~BundleSpaceMetric();
60 
61  virtual void clear();
62 
63  //############################################################################
64  // Distance Functions
65  //############################################################################
66 
67  virtual double distanceBundle(const Configuration *xStart, const Configuration *xDest) = 0;
68 
69  virtual double distanceFiber(const Configuration *xStart, const Configuration *xDest) = 0;
70 
71  virtual double distanceBase(const Configuration *xStart, const Configuration *xDest) = 0;
72 
73  //############################################################################
74  // Interpolate Functions
75  //############################################################################
76 
77  virtual void interpolateBundle(const Configuration *q_from, const Configuration *q_to, const double step,
78  Configuration *q_interp) = 0;
79 
80  void interpolateBundle(const Configuration *q_from, const Configuration *q_to, Configuration *q_interp);
81 
82  void interpolateBundle(const Configuration *q_from, Configuration *q_to);
83 
84  protected:
85  BundleSpaceGraph *bundleSpaceGraph_;
86 
87  base::State *xFiberStartTmp_;
88  base::State *xFiberDestTmp_;
89  base::State *xBaseStartTmp_;
90  base::State *xBaseDestTmp_;
91  };
92  }
93 }
94 
95 #endif
Main namespace. Contains everything in this library.