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PathRestriction.h
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36
37/* Author: Andreas Orthey */
38
39#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_RESTRICTION__
40#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_RESTRICTION__
41#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
42
43namespace ompl
44{
45 namespace base
46 {
48
49 OMPL_CLASS_FORWARD(Path);
51 }
52 namespace geometric
53 {
55
56 OMPL_CLASS_FORWARD(PathGeometric);
58 }
59 namespace multilevel
60 {
62
63 OMPL_CLASS_FORWARD(BundleSpaceGraph);
65 OMPL_CLASS_FORWARD(PathSection);
67 OMPL_CLASS_FORWARD(Head);
69 OMPL_CLASS_FORWARD(FindSection);
71
73
99 {
100 public:
101 PathRestriction() = delete;
103
104 virtual ~PathRestriction();
105
106 virtual void clear();
107
109 void setBasePath(base::PathPtr);
110
112 void setBasePath(std::vector<base::State *>);
113
115 const std::vector<base::State *> &getBasePath() const;
116
118 void setFindSectionStrategy(FindSectionType type);
119
127
130
132 double getLengthBasePath() const;
133
135 unsigned int size() const;
136
138 const base::State *getBaseStateAt(int k) const;
139
141 double getLengthIntermediateBasePath(int k);
142
144 double getLengthBasePathUntil(int k);
145
149
152 void interpolateBasePath(double t, base::State *&state) const;
153
154 friend std::ostream &operator<<(std::ostream &, const PathRestriction &);
155
156 virtual void print(std::ostream &) const;
157
158 protected:
161
163 std::vector<base::State *> basePath_;
164
166 double lengthBasePath_{0.0};
167
169 std::vector<double> lengthsIntermediateBasePath_;
170
172 std::vector<double> lengthsCumulativeBasePath_;
173
177 FindSectionPtr findSection_;
178 };
179 }
180}
181
182#endif
Definition of an abstract state.
Definition State.h:50
A graph on a Bundle-space.
Representation of path restriction (union of fibers over a base path).
BundleSpaceGraph * bundleSpaceGraph_
Pointer to associated bundle space.
double getLengthBasePath() const
Length of base path.
const base::State * getBaseStateAt(int k) const
Return State at index k on base path.
double lengthBasePath_
Length of set base path.
std::vector< double > lengthsIntermediateBasePath_
Intermediate lengths between states on base path.
void setBasePath(base::PathPtr)
Set base path over which restriction is defined.
BundleSpaceGraph * getBundleSpaceGraph()
Return pointer to underlying bundle space graph.
int getBasePathLastIndexFromLocation(double d)
Given a position d in [0, lengthbasepath_], return the index of the nearest state on base path before...
std::vector< base::State * > basePath_
Base path over which we define the restriction.
double getLengthIntermediateBasePath(int k)
Length between base state indices k and k+1.
FindSectionPtr findSection_
Strategy to find a feasible section (between specific elements on fiber at first base path index and ...
void interpolateBasePath(double t, base::State *&state) const
Interpolate state on base path at position t in [0, lengthbasepath_] (using discrete state representa...
double getLengthBasePathUntil(int k)
Cumulative length until base state index k.
bool hasFeasibleSection(Configuration *const, Configuration *const)
Check if feasible section exists between xStart and xGoal.
unsigned int size() const
Return number of discrete states in base path.
const std::vector< base::State * > & getBasePath() const
Return discrete states representation of base path.
std::vector< double > lengthsCumulativeBasePath_
Cumulative lengths between states on base path.
void setFindSectionStrategy(FindSectionType type)
Choose algorithm to find sections over restriction.
Main namespace. Contains everything in this library.