TangentBundleStateSpace.h

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/* Author: Zachary Kingston */
 
#ifndef OMPL_BASE_SPACES_TANGENTBUNDLE_STATE_SPACE_
#define OMPL_BASE_SPACES_TANGENTBUNDLE_STATE_SPACE_
 
#include "ompl/base/spaces/constraint/AtlasStateSpace.h"
 
namespace ompl
{
    namespace base
    {
 
        OMPL_CLASS_FORWARD(TangentBundleStateSpace);
 
        class TangentBundleStateSpace : public AtlasStateSpace
        {
        public:
            TangentBundleStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint);
 
            void sanityChecks() const override;
 
            bool discreteGeodesic(const State *from, const State *to, bool interpolate = false,
                                  std::vector<State *> *geodesic = nullptr) const override;
 
            State *geodesicInterpolate(const std::vector<State *> &geodesic, double t) const override;
 
            bool project(State *state) const;
        };
    }
}
 
#endif