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FindSection.h
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36
37/* Author: Andreas Orthey */
38
39#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_RESTRICTION_FIND_SECTION_
40#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_RESTRICTION_FIND_SECTION_
41#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
42#include <ompl/multilevel/datastructures/ParameterExponentialDecay.h>
43#include <ompl/multilevel/datastructures/ParameterSmoothStep.h>
44
45namespace ompl
46{
47 namespace base
48 {
50
51 OMPL_CLASS_FORWARD(Path);
53 }
54 namespace geometric
55 {
57
58 OMPL_CLASS_FORWARD(PathGeometric);
60 }
61 namespace multilevel
62 {
64
65 OMPL_CLASS_FORWARD(BundleSpaceGraph);
67 OMPL_CLASS_FORWARD(PathRestriction);
69 OMPL_CLASS_FORWARD(FiberedProjection);
71 OMPL_CLASS_FORWARD(Head);
73
75
77 {
78 public:
79 FindSection() = delete;
81
82 virtual ~FindSection();
83
84 virtual bool solve(HeadPtr &head) = 0;
85
87 bool findFeasibleStateOnFiber(const base::State *xBase, base::State *xBundle);
88
90 bool tripleStep(HeadPtr &head, const base::State *sBundleGoal, double locationOnBasePathGoal);
91
92 protected:
95
96 base::State *xBaseTmp_{nullptr};
97 base::State *xBundleTmp_{nullptr};
98
99 base::State *xFiberStart_{nullptr};
100 base::State *xFiberGoal_{nullptr};
101 base::State *xFiberTmp_{nullptr};
102
103 protected:
106
107 double neighborhoodRadiusBaseSpaceLambda_{1.0};
108
109 double neighborhoodRadiusBaseSpaceTarget_{0.5};
110
113
114 double validBundleSpaceSegmentLength_;
115
116 double validFiberSpaceSegmentLength_;
117 };
118 }
119}
120
121#endif
ParameterExponentialDecay represents a smooth interpolation between two parameter values using an exp...
Definition of an abstract state.
Definition State.h:50
bool tripleStep(HeadPtr &head, const base::State *sBundleGoal, double locationOnBasePathGoal)
Triple step pattern.
bool findFeasibleStateOnFiber(const base::State *xBase, base::State *xBundle)
Sample state on fiber while keeping base state fixed.
double validBaseSpaceSegmentLength_
Step size to check validity.
ParameterExponentialDecay neighborhoodRadiusBaseSpace_
Radius of restriction neighborhood.
PathRestriction * restriction_
Pointer to associated bundle space.
Definition FindSection.h:94
Representation of path restriction (union of fibers over a base path).
Main namespace. Contains everything in this library.