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ompl::multilevel::Head Class Reference

A pointer to a specific location on the base path of the path restriction. More...

#include <ompl/multilevel/datastructures/pathrestriction/Head.h>

Public Member Functions

 Head (PathRestriction *restriction, Configuration *const xCurrent, Configuration *const xTarget)
 
 Head (const Head &rhs)
 
const base::StategetState () const
 Get state to which head points.
 
const base::StategetStateFiber () const
 Get projection of state onto fiber space.
 
const base::StategetStateBase () const
 Get projection of state onto base space.
 
base::StategetStateFiberNonConst () const
 Get projection of state onto fiber space (non const)
 
base::StategetStateBaseNonConst () const
 Get projection of state onto base space (non const)
 
ConfigurationgetConfiguration () const
 Get state as configuration.
 
void setCurrent (Configuration *, double)
 Setter for current configuration/state.
 
ConfigurationgetTargetConfiguration () const
 Get target configuration.
 
const base::StategetStateTargetFiber () const
 Get target configuration projected onto fiber.
 
base::StategetStateTargetFiberNonConst () const
 Get target configuration projected onto fiber (non const)
 
int getNumberOfRemainingStates ()
 Remaining discrete states starting at head (including head) and relative to the head.
 
const base::StategetBaseStateAt (int k) const
 Get target configuration projected onto fiber (non const)
 
int getBaseStateIndexAt (int k) const
 Get base state at base path index.
 
double getLocationOnBasePath () const
 Get location in [0,1] on base path to which head points.
 
void setLocationOnBasePath (double d)
 Set location of head along base path.
 
int getNextValidBasePathIndex () const
 Get next base path index (after head)
 
int getLastValidBasePathIndex () const
 Get last base path index (before head)
 
void setLastValidBasePathIndex (int k)
 
void print (std::ostream &) const
 
PathRestrictiongetRestriction () const
 Get underlying path restriction.
 

Friends

std::ostream & operator<< (std::ostream &out, const Head &h)
 Pipe head to stream.
 

Detailed Description

A pointer to a specific location on the base path of the path restriction.

This class contains information about the current location over the base path, including the distance traveled from start, the last index of the base path states and information about the fiber space and fiber element at the current location. Can be used to interpolate from current location to goal of path restriction.

Definition at line 63 of file Head.h.

Constructor & Destructor Documentation

◆ Head() [1/2]

Head::Head ( PathRestriction * restriction,
Configuration *const xCurrent,
Configuration *const xTarget )

Definition at line 45 of file Head.cpp.

◆ Head() [2/2]

Head::Head ( const Head & rhs)

Definition at line 70 of file Head.cpp.

◆ ~Head()

Head::~Head ( )

Definition at line 85 of file Head.cpp.

Member Function Documentation

◆ getBaseStateAt()

const ompl::base::State * Head::getBaseStateAt ( int k) const

Get target configuration projected onto fiber (non const)

Definition at line 223 of file Head.cpp.

◆ getBaseStateIndexAt()

int Head::getBaseStateIndexAt ( int k) const

Get base state at base path index.

Definition at line 238 of file Head.cpp.

◆ getConfiguration()

Configuration * Head::getConfiguration ( ) const

Get state as configuration.

Definition at line 108 of file Head.cpp.

◆ getLastValidBasePathIndex()

int Head::getLastValidBasePathIndex ( ) const

Get last base path index (before head)

Definition at line 175 of file Head.cpp.

◆ getLocationOnBasePath()

double Head::getLocationOnBasePath ( ) const

Get location in [0,1] on base path to which head points.

Definition at line 193 of file Head.cpp.

◆ getNextValidBasePathIndex()

int Head::getNextValidBasePathIndex ( ) const

Get next base path index (after head)

Definition at line 180 of file Head.cpp.

◆ getNumberOfRemainingStates()

int Head::getNumberOfRemainingStates ( )

Remaining discrete states starting at head (including head) and relative to the head.

Definition at line 198 of file Head.cpp.

◆ getRestriction()

PathRestriction * Head::getRestriction ( ) const

Get underlying path restriction.

Definition at line 103 of file Head.cpp.

◆ getState()

const ompl::base::State * Head::getState ( ) const

Get state to which head points.

Definition at line 113 of file Head.cpp.

◆ getStateBase()

const ompl::base::State * Head::getStateBase ( ) const

Get projection of state onto base space.

Definition at line 123 of file Head.cpp.

◆ getStateBaseNonConst()

ompl::base::State * Head::getStateBaseNonConst ( ) const

Get projection of state onto base space (non const)

Definition at line 133 of file Head.cpp.

◆ getStateFiber()

const ompl::base::State * Head::getStateFiber ( ) const

Get projection of state onto fiber space.

Definition at line 118 of file Head.cpp.

◆ getStateFiberNonConst()

ompl::base::State * Head::getStateFiberNonConst ( ) const

Get projection of state onto fiber space (non const)

Definition at line 128 of file Head.cpp.

◆ getStateTargetFiber()

const ompl::base::State * Head::getStateTargetFiber ( ) const

Get target configuration projected onto fiber.

Definition at line 143 of file Head.cpp.

◆ getStateTargetFiberNonConst()

ompl::base::State * Head::getStateTargetFiberNonConst ( ) const

Get target configuration projected onto fiber (non const)

Definition at line 148 of file Head.cpp.

◆ getTargetConfiguration()

Configuration * Head::getTargetConfiguration ( ) const

Get target configuration.

Definition at line 138 of file Head.cpp.

◆ print()

void Head::print ( std::ostream & out) const

Definition at line 255 of file Head.cpp.

◆ setCurrent()

void Head::setCurrent ( Configuration * newCurrent,
double location )

Setter for current configuration/state.

Definition at line 153 of file Head.cpp.

◆ setLastValidBasePathIndex()

void Head::setLastValidBasePathIndex ( int k)

Definition at line 218 of file Head.cpp.

◆ setLocationOnBasePath()

void Head::setLocationOnBasePath ( double d)

Set location of head along base path.

Definition at line 213 of file Head.cpp.

Friends And Related Symbol Documentation

◆ operator<<

std::ostream & operator<< ( std::ostream & out,
const Head & h )
friend

Pipe head to stream.

Definition at line 275 of file Head.cpp.


The documentation for this class was generated from the following files:
  • ompl/multilevel/datastructures/pathrestriction/Head.h
  • ompl/multilevel/datastructures/pathrestriction/src/Head.cpp