Geodesic.h
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36 
37 /* Author: Andreas Orthey */
38 
39 #ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_METRICS_BUNDLEMETRIC_GEODESIC__
40 #define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_METRICS_BUNDLEMETRIC_GEODESIC__
41 #include <ompl/multilevel/datastructures/metrics/BundleSpaceMetric.h>
42 
43 namespace ompl
44 {
45  namespace multilevel
46  {
50  class BundleSpaceMetricGeodesic : public BundleSpaceMetric
51  {
52  using BaseT = BundleSpaceMetric;
53 
54  public:
55  BundleSpaceMetricGeodesic() = delete;
56  BundleSpaceMetricGeodesic(BundleSpaceGraph *);
57  virtual ~BundleSpaceMetricGeodesic() override = default;
58 
59  virtual double distanceBundle(const Configuration *xStart, const Configuration *xDest) override;
60 
61  virtual double distanceFiber(const Configuration *xStart, const Configuration *xDest) override;
62 
63  virtual double distanceBase(const Configuration *xStart, const Configuration *xDest) override;
64 
65  virtual void interpolateBundle(const Configuration *q_from, const Configuration *q_to, const double step,
66  Configuration *q_interp) override;
67  };
68  }
69 }
70 
71 #endif
Main namespace. Contains everything in this library.