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TangentBundleStateSpace.h
AtlasStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint, bool separate=true)
Construct an atlas with the specified dimensions.
Definition AtlasStateSpace.cpp:200
void interpolate(const State *from, const State *to, double t, State *state) const override
Find a state between from and to around time t, where t = 0 is from, and t = 1 is the final state rea...
Definition ConstrainedStateSpace.cpp:270
A shared pointer wrapper for ompl::base::Constraint.
A shared pointer wrapper for ompl::base::StateSpace.
ConstrainedStateSpace encapsulating a planner-agnostic lazy atlas algorithm for planning on a constra...
Definition TangentBundleStateSpace.h:81
void sanityChecks() const override
Do sanity checks, minus geodesic constraint satisfiability (as this is a lazy method).
Definition TangentBundleStateSpace.cpp:60
bool discreteGeodesic(const State *from, const State *to, bool interpolate=false, std::vector< State * > *geodesic=nullptr) const override
Traverse the manifold from from toward to. Returns true if we reached to, and false if we stopped ear...
Definition TangentBundleStateSpace.cpp:72
State * geodesicInterpolate(const std::vector< State * > &geodesic, double t) const override
Like interpolate(...), but interpolates between intermediate states already supplied in stateList fro...
Definition TangentBundleStateSpace.cpp:180
bool project(State *state) const
Reproject a state onto the surface of the manifold. Returns true if projection was successful,...
Definition TangentBundleStateSpace.cpp:190
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66