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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
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
ConstrainedStateSpace encapsulating a planner-agnostic atlas algorithm for planning on a constraint m...
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,...
Main namespace. Contains everything in this library.