Head.h

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/* Author: Andreas Orthey */
 
#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_RESTRICTION_BASEPATHHEAD__
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_RESTRICTION_BASEPATHHEAD__
#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
 
namespace ompl
{
    namespace multilevel
    {
        OMPL_CLASS_FORWARD(BundleSpaceGraph);
        OMPL_CLASS_FORWARD(PathRestriction);
        OMPL_CLASS_FORWARD(FiberedProjection);
 
        using Configuration = ompl::multilevel::BundleSpaceGraph::Configuration;
 
        class Head
        {
        public:
            Head(PathRestriction *restriction, Configuration *const xCurrent, Configuration *const xTarget);
 
            Head(const Head &rhs);
 
            ~Head();
 
            const base::State *getState() const;
            const base::State *getStateFiber() const;
            const base::State *getStateBase() const;
 
            base::State *getStateFiberNonConst() const;
            base::State *getStateBaseNonConst() const;
            Configuration *getConfiguration() const;
 
            void setCurrent(Configuration *, double);
 
            Configuration *getTargetConfiguration() const;
            const base::State *getStateTargetFiber() const;
            base::State *getStateTargetFiberNonConst() const;
 
            int getNumberOfRemainingStates();
 
            const base::State *getBaseStateAt(int k) const;
            int getBaseStateIndexAt(int k) const;
 
            double getLocationOnBasePath() const;
            void setLocationOnBasePath(double d);
 
            int getNextValidBasePathIndex() const;
            int getLastValidBasePathIndex() const;
            void setLastValidBasePathIndex(int k);
 
            friend std::ostream &operator<<(std::ostream &, const Head &);
 
            void print(std::ostream &) const;
 
            PathRestriction *getRestriction() const;
 
        private:
            double locationOnBasePath_{0.0};
            int lastValidIndexOnBasePath_{0};
 
            PathRestriction *restriction_{nullptr};
 
            Configuration *xCurrent_{nullptr};
            base::State *xBaseCurrent_{nullptr};
            base::State *xFiberCurrent_{nullptr};
 
            Configuration *xTarget_{nullptr};
            base::State *xFiberTarget_{nullptr};
        };
    }
}
 
#endif