Class BundleSpaceMetricGeodesic

Defined in File Geodesic.h

Inheritance Relationships

Base Type

public ompl::multilevel::BundleSpaceMetric (Class BundleSpaceMetric)

Class Documentation

class BundleSpaceMetricGeodesic : public ompl::multilevel::BundleSpaceMetric 

Geodesic Bundle Space Metric: Reverting to the intrinsic metric of each space, i.e. we ignore the base space (naive, but fast)

Public Functions

BundleSpaceMetricGeodesic() = delete

BundleSpaceMetricGeodesic(BundleSpaceGraph*)

virtual ~BundleSpaceMetricGeodesic() override = default

virtual double distanceBundle(const Configuration *xStart, const Configuration *xDest) override

virtual double distanceFiber(const Configuration *xStart, const Configuration *xDest) override

virtual double distanceBase(const Configuration *xStart, const Configuration *xDest) override

virtual void interpolateBundle(const Configuration *q_from, const Configuration *q_to, const double step, Configuration *q_interp) override