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TangentBundleStateSpace.h
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34
35/* Author: Zachary Kingston */
36
37#ifndef OMPL_BASE_SPACES_TANGENTBUNDLE_STATE_SPACE_
38#define OMPL_BASE_SPACES_TANGENTBUNDLE_STATE_SPACE_
39
40#include "ompl/base/spaces/constraint/AtlasStateSpace.h"
41
42namespace ompl
43{
44 namespace base
45 {
47
48 OMPL_CLASS_FORWARD(TangentBundleStateSpace);
50
77
80 class TangentBundleStateSpace : public AtlasStateSpace
81 {
82 public:
83 TangentBundleStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint);
84
87 void sanityChecks() const override;
88
97 bool discreteGeodesic(const State *from, const State *to, bool interpolate = false,
98 std::vector<State *> *geodesic = nullptr) const override;
99
108 State *geodesicInterpolate(const std::vector<State *> &geodesic, double t) const override;
109
112 bool project(State *state) const;
113 };
114 }
115}
116
117#endif
AtlasStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint, bool separate=true)
Construct an atlas with the specified dimensions.
void interpolate(const State *from, const State *to, double t, State *state) const override
Find a state between from and to around time t, where t = 0 is from, and t = 1 is the final state rea...
A shared pointer wrapper for ompl::base::Constraint.
A shared pointer wrapper for ompl::base::StateSpace.
Definition of an abstract state.
Definition State.h:50
ConstrainedStateSpace encapsulating a planner-agnostic lazy atlas algorithm for planning on a constra...
void sanityChecks() const override
Do sanity checks, minus geodesic constraint satisfiability (as this is a lazy method).
bool discreteGeodesic(const State *from, const State *to, bool interpolate=false, std::vector< State * > *geodesic=nullptr) const override
Traverse the manifold from from toward to. Returns true if we reached to, and false if we stopped ear...
State * geodesicInterpolate(const std::vector< State * > &geodesic, double t) const override
Like interpolate(...), but interpolates between intermediate states already supplied in stateList fro...
bool project(State *state) const
Reproject a state onto the surface of the manifold. Returns true if projection was successful,...
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Main namespace. Contains everything in this library.