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FindSection.cpp
67 FiberedProjectionPtr projection = std::static_pointer_cast<FiberedProjection>(graph->getProjection());
97 FiberedProjectionPtr projection = std::static_pointer_cast<FiberedProjection>(graph->getProjection());
115bool FindSection::findFeasibleStateOnFiber(const ompl::base::State *xBase, ompl::base::State *xBundle)
122 FiberedProjectionPtr projection = std::static_pointer_cast<FiberedProjection>(graph->getProjection());
150bool FindSection::tripleStep(HeadPtr &head, const ompl::base::State *sBundleGoal, double locationOnBasePathGoal)
161 FiberedProjectionPtr projection = std::static_pointer_cast<FiberedProjection>(graph->getProjection());
virtual Vertex addConfiguration(Configuration *q)
Add configuration to graph. Return its vertex in boost graph.
Definition BundleSpaceGraph.cpp:354
virtual void addBundleEdge(const Configuration *a, const Configuration *b)
Add edge between configuration a and configuration b to graph.
Definition BundleSpaceGraph.cpp:349
ProjectionPtr getProjection() const
Get ProjectionPtr from Bundle to Base.
Definition BundleSpace.cpp:226
unsigned int getCoDimension() const
Dimension of Bundle Space - Dimension of Base Space.
Definition BundleSpace.cpp:346
const ompl::base::SpaceInformationPtr & getBundle() const
Get SpaceInformationPtr for Bundle.
Definition BundleSpace.cpp:323
const ompl::base::SpaceInformationPtr & getBase() const
Get SpaceInformationPtr for Base.
Definition BundleSpace.cpp:328
bool tripleStep(HeadPtr &head, const base::State *sBundleGoal, double locationOnBasePathGoal)
Triple step pattern.
Definition FindSection.cpp:150
bool findFeasibleStateOnFiber(const base::State *xBase, base::State *xBundle)
Sample state on fiber while keeping base state fixed.
Definition FindSection.cpp:115
Representation of path restriction (union of fibers over a base path).
Definition PathRestriction.h:99
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
This namespace includes magic constants used in various places in OMPL.
Definition Constraint.h:52
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