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ompl::multilevel::PathSection Class Reference

Representation of a path section (not necessarily feasible). More...

#include <ompl/multilevel/datastructures/pathrestriction/PathSection.h>

Public Types

using Configuration = ompl::multilevel::BundleSpaceGraph::Configuration

Public Member Functions

 PathSection (PathRestriction *)
void interpolateL2 (HeadPtr &)
 Interpolate along restriction using L2 metric.
void interpolateL1FiberFirst (HeadPtr &)
 Interpolate along restriction using L1 metric.
void interpolateL1FiberLast (HeadPtr &)
 Interpolate along restriction using L1 metric (Fiber Last)
bool checkMotion (HeadPtr &)
 Checks if section is feasible.
void sanityCheck ()
 checks if section is feasible
void sanityCheck (HeadPtr &)
base::Stateat (int k) const
 Methods to access sections like std::vector.
const base::Stateback () const
const base::Statefront () const
unsigned int size () const
ConfigurationaddFeasibleSegment (Configuration *xLast, base::State *sNext)
 Add vertex for sNext and edge to xLast by assuming motion is valid.
void addFeasibleGoalSegment (Configuration *xLast, Configuration *xGoal)
void print (std::ostream &) const

Protected Attributes

PathRestrictionrestriction_
std::vector< base::State * > section_
 Interpolated section along restriction.
std::vector< int > sectionBaseStateIndices_
std::pair< base::State *, double > lastValid_
 Last valid state on feasible segment.
int lastValidIndexOnBasePath_
base::StatexBaseTmp_ {nullptr}
base::StatexBundleTmp_ {nullptr}
base::StatexFiberStart_ {nullptr}
base::StatexFiberGoal_ {nullptr}
base::StatexFiberTmp_ {nullptr}

Friends

std::ostream & operator<< (std::ostream &out, const PathSection &s)

Detailed Description

Representation of a path section (not necessarily feasible).

This class provides convenience methods to interpolate different path section over a given path restriction

Definition at line 60 of file PathSection.h.

Member Typedef Documentation

◆ Configuration

Constructor & Destructor Documentation

◆ PathSection()

PathSection::PathSection ( PathRestriction * restriction)

Definition at line 46 of file PathSection.cpp.

◆ ~PathSection()

PathSection::~PathSection ( )
virtual

Definition at line 67 of file PathSection.cpp.

Member Function Documentation

◆ addFeasibleGoalSegment()

void PathSection::addFeasibleGoalSegment ( Configuration * xLast,
Configuration * xGoal )

Definition at line 310 of file PathSection.cpp.

◆ addFeasibleSegment()

BundleSpaceGraph::Configuration * PathSection::addFeasibleSegment ( Configuration * xLast,
base::State * sNext )

Add vertex for sNext and edge to xLast by assuming motion is valid.

Definition at line 296 of file PathSection.cpp.

◆ at()

ompl::base::State * PathSection::at ( int k) const

Methods to access sections like std::vector.

Definition at line 147 of file PathSection.cpp.

◆ back()

const ompl::base::State * PathSection::back ( ) const

Definition at line 152 of file PathSection.cpp.

◆ checkMotion()

bool PathSection::checkMotion ( HeadPtr & head)

Checks if section is feasible.

Return values
Trueif feasible and false if only partially feasible
BasepathheadptrReturn last valid

Definition at line 91 of file PathSection.cpp.

◆ front()

const ompl::base::State * PathSection::front ( ) const

Definition at line 157 of file PathSection.cpp.

◆ interpolateL1FiberFirst()

void PathSection::interpolateL1FiberFirst ( HeadPtr & head)

Interpolate along restriction using L1 metric.

(Fiber first)

_____________x | |

x

Definition at line 162 of file PathSection.cpp.

◆ interpolateL1FiberLast()

void PathSection::interpolateL1FiberLast ( HeadPtr & head)

Interpolate along restriction using L1 metric (Fiber Last)

autotoc_md169

x | |

x_____________|

Definition at line 208 of file PathSection.cpp.

◆ interpolateL2()

void PathSection::interpolateL2 ( HeadPtr & head)

Interpolate along restriction using L2 metric.

autotoc_md165

____x ____/ ___/

x

Definition at line 250 of file PathSection.cpp.

◆ print()

void PathSection::print ( std::ostream & out) const

Definition at line 391 of file PathSection.cpp.

◆ sanityCheck() [1/2]

void PathSection::sanityCheck ( )

checks if section is feasible

Definition at line 361 of file PathSection.cpp.

◆ sanityCheck() [2/2]

void PathSection::sanityCheck ( HeadPtr & head)

Definition at line 323 of file PathSection.cpp.

◆ size()

unsigned int PathSection::size ( ) const

Definition at line 386 of file PathSection.cpp.

◆ operator<<

std::ostream & operator<< ( std::ostream & out,
const PathSection & s )
friend

Definition at line 423 of file PathSection.cpp.

Member Data Documentation

◆ lastValid_

std::pair<base::State *, double> ompl::multilevel::PathSection::lastValid_
protected

Last valid state on feasible segment.

Definition at line 133 of file PathSection.h.

◆ lastValidIndexOnBasePath_

int ompl::multilevel::PathSection::lastValidIndexOnBasePath_
protected

Definition at line 135 of file PathSection.h.

◆ restriction_

PathRestriction* ompl::multilevel::PathSection::restriction_
protected

Definition at line 125 of file PathSection.h.

◆ section_

std::vector<base::State *> ompl::multilevel::PathSection::section_
protected

Interpolated section along restriction.

Definition at line 128 of file PathSection.h.

◆ sectionBaseStateIndices_

std::vector<int> ompl::multilevel::PathSection::sectionBaseStateIndices_
protected

Definition at line 130 of file PathSection.h.

◆ xBaseTmp_

base::State* ompl::multilevel::PathSection::xBaseTmp_ {nullptr}
protected

Definition at line 137 of file PathSection.h.

◆ xBundleTmp_

base::State* ompl::multilevel::PathSection::xBundleTmp_ {nullptr}
protected

Definition at line 138 of file PathSection.h.

◆ xFiberGoal_

base::State* ompl::multilevel::PathSection::xFiberGoal_ {nullptr}
protected

Definition at line 141 of file PathSection.h.

◆ xFiberStart_

base::State* ompl::multilevel::PathSection::xFiberStart_ {nullptr}
protected

Definition at line 140 of file PathSection.h.

◆ xFiberTmp_

base::State* ompl::multilevel::PathSection::xFiberTmp_ {nullptr}
protected

Definition at line 142 of file PathSection.h.


The documentation for this class was generated from the following files: