Representation of a path section (not necessarily feasible). More...
#include <ompl/multilevel/datastructures/pathrestriction/PathSection.h>
Public Types | |
using | Configuration = ompl::multilevel::BundleSpaceGraph::Configuration |
Public Member Functions | |
PathSection (PathRestriction *) | |
void | interpolateL2 (HeadPtr &) |
Interpolate along restriction using L2 metric. | |
void | interpolateL1FiberFirst (HeadPtr &) |
Interpolate along restriction using L1 metric. | |
void | interpolateL1FiberLast (HeadPtr &) |
Interpolate along restriction using L1 metric (Fiber Last) | |
bool | checkMotion (HeadPtr &) |
Checks if section is feasible. | |
void | sanityCheck () |
checks if section is feasible | |
void | sanityCheck (HeadPtr &) |
base::State * | at (int k) const |
Methods to access sections like std::vector. | |
const base::State * | back () const |
const base::State * | front () const |
unsigned int | size () const |
Configuration * | addFeasibleSegment (Configuration *xLast, base::State *sNext) |
Add vertex for sNext and edge to xLast by assuming motion is valid. | |
void | addFeasibleGoalSegment (Configuration *xLast, Configuration *xGoal) |
void | print (std::ostream &) const |
Protected Attributes | |
PathRestriction * | restriction_ |
std::vector< base::State * > | section_ |
Interpolated section along restriction. | |
std::vector< int > | sectionBaseStateIndices_ |
std::pair< base::State *, double > | lastValid_ |
Last valid state on feasible segment. | |
int | lastValidIndexOnBasePath_ |
base::State * | xBaseTmp_ {nullptr} |
base::State * | xBundleTmp_ {nullptr} |
base::State * | xFiberStart_ {nullptr} |
base::State * | xFiberGoal_ {nullptr} |
base::State * | xFiberTmp_ {nullptr} |
Friends | |
std::ostream & | operator<< (std::ostream &out, const PathSection &s) |
Detailed Description
Representation of a path section (not necessarily feasible).
This class provides convenience methods to interpolate different path section over a given path restriction
Definition at line 60 of file PathSection.h.
Member Typedef Documentation
◆ Configuration
using ompl::multilevel::PathSection::Configuration = ompl::multilevel::BundleSpaceGraph::Configuration |
Definition at line 63 of file PathSection.h.
Constructor & Destructor Documentation
◆ PathSection()
PathSection::PathSection | ( | PathRestriction * | restriction | ) |
Definition at line 46 of file PathSection.cpp.
◆ ~PathSection()
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virtual |
Definition at line 67 of file PathSection.cpp.
Member Function Documentation
◆ addFeasibleGoalSegment()
void PathSection::addFeasibleGoalSegment | ( | Configuration * | xLast, |
Configuration * | xGoal ) |
Definition at line 310 of file PathSection.cpp.
◆ addFeasibleSegment()
BundleSpaceGraph::Configuration * PathSection::addFeasibleSegment | ( | Configuration * | xLast, |
base::State * | sNext ) |
Add vertex for sNext and edge to xLast by assuming motion is valid.
Definition at line 296 of file PathSection.cpp.
◆ at()
ompl::base::State * PathSection::at | ( | int | k | ) | const |
Methods to access sections like std::vector.
Definition at line 147 of file PathSection.cpp.
◆ back()
const ompl::base::State * PathSection::back | ( | ) | const |
Definition at line 152 of file PathSection.cpp.
◆ checkMotion()
bool PathSection::checkMotion | ( | HeadPtr & | head | ) |
Checks if section is feasible.
- Return values
-
True if feasible and false if only partially feasible Basepathheadptr Return last valid
Definition at line 91 of file PathSection.cpp.
◆ front()
const ompl::base::State * PathSection::front | ( | ) | const |
Definition at line 157 of file PathSection.cpp.
◆ interpolateL1FiberFirst()
void PathSection::interpolateL1FiberFirst | ( | HeadPtr & | head | ) |
Interpolate along restriction using L1 metric.
(Fiber first)
_____________x | |
x
Definition at line 162 of file PathSection.cpp.
◆ interpolateL1FiberLast()
void PathSection::interpolateL1FiberLast | ( | HeadPtr & | head | ) |
Interpolate along restriction using L1 metric (Fiber Last)
autotoc_md169
x | |
x_____________|
Definition at line 208 of file PathSection.cpp.
◆ interpolateL2()
void PathSection::interpolateL2 | ( | HeadPtr & | head | ) |
Interpolate along restriction using L2 metric.
autotoc_md165
____x ____/ ___/
x
Definition at line 250 of file PathSection.cpp.
◆ print()
void PathSection::print | ( | std::ostream & | out | ) | const |
Definition at line 391 of file PathSection.cpp.
◆ sanityCheck() [1/2]
void PathSection::sanityCheck | ( | ) |
checks if section is feasible
Definition at line 361 of file PathSection.cpp.
◆ sanityCheck() [2/2]
void PathSection::sanityCheck | ( | HeadPtr & | head | ) |
Definition at line 323 of file PathSection.cpp.
◆ size()
unsigned int PathSection::size | ( | ) | const |
Definition at line 386 of file PathSection.cpp.
Friends And Related Symbol Documentation
◆ operator<<
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friend |
Definition at line 423 of file PathSection.cpp.
Member Data Documentation
◆ lastValid_
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protected |
Last valid state on feasible segment.
Definition at line 133 of file PathSection.h.
◆ lastValidIndexOnBasePath_
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protected |
Definition at line 135 of file PathSection.h.
◆ restriction_
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protected |
Definition at line 125 of file PathSection.h.
◆ section_
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protected |
Interpolated section along restriction.
Definition at line 128 of file PathSection.h.
◆ sectionBaseStateIndices_
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protected |
Definition at line 130 of file PathSection.h.
◆ xBaseTmp_
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protected |
Definition at line 137 of file PathSection.h.
◆ xBundleTmp_
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protected |
Definition at line 138 of file PathSection.h.
◆ xFiberGoal_
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protected |
Definition at line 141 of file PathSection.h.
◆ xFiberStart_
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protected |
Definition at line 140 of file PathSection.h.
◆ xFiberTmp_
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protected |
Definition at line 142 of file PathSection.h.
The documentation for this class was generated from the following files:
- ompl/multilevel/datastructures/pathrestriction/PathSection.h
- ompl/multilevel/datastructures/pathrestriction/src/PathSection.cpp