39#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_
40#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_
41#include <ompl/base/State.h>
42#include <ompl/base/StateSpaceTypes.h>
43#include <ompl/multilevel/datastructures/ProjectionTypes.h>
44#include <ompl/multilevel/datastructures/Projection.h>
52 OMPL_CLASS_FORWARD(SpaceInformation);
54 OMPL_CLASS_FORWARD(StateSpace);
64 FiberedProjection(base::StateSpacePtr bundleSpace, base::StateSpacePtr baseSpace);
85 std::string getFiberTypeAsString()
const;
87 bool isFibered()
const override;
90 void makeFiberSpace();
95 base::StateSpacePtr fiberSpace_{
nullptr};
97 base::SpaceInformationPtr siFiberSpace_{
nullptr};
99 base::StateSamplerPtr fiberSpaceSampler_;
A shared pointer wrapper for ompl::base::StateSampler.
A shared pointer wrapper for ompl::base::StateSpace.
Definition of an abstract state.
unsigned int getFiberDimension() const
Dimension of Fiber Space.
Main namespace. Contains everything in this library.