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BundleSpaceMetric.h
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36
37/* Author: Andreas Orthey */
38
39#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_METRICS_BUNDLEMETRIC_
40#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_METRICS_BUNDLEMETRIC_
41#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
42
43namespace ompl
44{
45 namespace multilevel
46 {
48
49 OMPL_CLASS_FORWARD(BundleSpaceGraph);
51
53 {
54 public:
56 BundleSpaceMetric() = delete;
58
59 virtual ~BundleSpaceMetric();
60
61 virtual void clear();
62
63 //############################################################################
64 // Distance Functions
65 //############################################################################
66
67 virtual double distanceBundle(const Configuration *xStart, const Configuration *xDest) = 0;
68
69 virtual double distanceFiber(const Configuration *xStart, const Configuration *xDest) = 0;
70
71 virtual double distanceBase(const Configuration *xStart, const Configuration *xDest) = 0;
72
73 //############################################################################
74 // Interpolate Functions
75 //############################################################################
76
77 virtual void interpolateBundle(const Configuration *q_from, const Configuration *q_to, const double step,
78 Configuration *q_interp) = 0;
79
80 void interpolateBundle(const Configuration *q_from, const Configuration *q_to, Configuration *q_interp);
81
82 void interpolateBundle(const Configuration *q_from, Configuration *q_to);
83
84 protected:
85 BundleSpaceGraph *bundleSpaceGraph_;
86
87 base::State *xFiberStartTmp_;
88 base::State *xFiberDestTmp_;
89 base::State *xBaseStartTmp_;
90 base::State *xBaseDestTmp_;
91 };
92 }
93}
94
95#endif
Definition of an abstract state.
Definition State.h:50
A graph on a Bundle-space.
Main namespace. Contains everything in this library.