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PathRestriction.h
A pointer to a specific location on the base path of the path restriction.
Definition Head.h:64
BundleSpaceGraph * bundleSpaceGraph_
Pointer to associated bundle space.
Definition PathRestriction.h:160
const base::State * getBaseStateAt(int k) const
Return State at index k on base path.
Definition PathRestriction.cpp:165
std::vector< double > lengthsIntermediateBasePath_
Intermediate lengths between states on base path.
Definition PathRestriction.h:169
void setBasePath(base::PathPtr)
Set base path over which restriction is defined.
BundleSpaceGraph * getBundleSpaceGraph()
Return pointer to underlying bundle space graph.
Definition PathRestriction.cpp:87
int getBasePathLastIndexFromLocation(double d)
Given a position d in [0, lengthbasepath_], return the index of the nearest state on base path before...
Definition PathRestriction.cpp:191
std::vector< base::State * > basePath_
Base path over which we define the restriction.
Definition PathRestriction.h:163
double getLengthIntermediateBasePath(int k)
Length between base state indices k and k+1.
Definition PathRestriction.cpp:171
FindSectionPtr findSection_
Strategy to find a feasible section (between specific elements on fiber at first base path index and ...
Definition PathRestriction.h:177
void interpolateBasePath(double t, base::State *&state) const
Interpolate state on base path at position t in [0, lengthbasepath_] (using discrete state representa...
Definition PathRestriction.cpp:119
double getLengthBasePathUntil(int k)
Cumulative length until base state index k.
Definition PathRestriction.cpp:176
bool hasFeasibleSection(Configuration *const, Configuration *const)
Check if feasible section exists between xStart and xGoal.
Definition PathRestriction.cpp:205
unsigned int size() const
Return number of discrete states in base path.
Definition PathRestriction.cpp:160
const std::vector< base::State * > & getBasePath() const
Return discrete states representation of base path.
Definition PathRestriction.cpp:150
std::vector< double > lengthsCumulativeBasePath_
Cumulative lengths between states on base path.
Definition PathRestriction.h:172
void setFindSectionStrategy(FindSectionType type)
Choose algorithm to find sections over restriction.
Definition PathRestriction.cpp:58
Representation of a path section (not necessarily feasible).
Definition PathSection.h:61
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
This namespace contains code that is specific to planning under geometric constraints.
Definition GeneticSearch.h:48
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Definition MultiLevelPlanarManipulatorDemo.cpp:68
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66