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Geometric.cpp
1#include <ompl/multilevel/datastructures/propagators/Geometric.h>
2
3ompl::multilevel::BundleSpacePropagatorGeometric::BundleSpacePropagatorGeometric(BundleSpaceGraph *bundleSpaceGraph)
4 : BaseT(bundleSpaceGraph)
5{
6}
7
8ompl::multilevel::BundleSpacePropagatorGeometric::~BundleSpacePropagatorGeometric()
9{
10}
11
12bool ompl::multilevel::BundleSpacePropagatorGeometric::steer(const Configuration *from, const Configuration *to,
13 Configuration *result)
14{
15 bundleSpaceGraph_->interpolate(from, to, result);
16 bool val = bundleSpaceGraph_->checkMotion(from, result);
17 return val;
18}