Class FiberedProjection

• Defined in File FiberedProjection.h

Inheritance Relationships

Base Type

• public ompl::multilevel::Projection (Class Projection)

Derived Types

• public ompl::multilevel::Projection_EmptySet (Class Projection_EmptySet)

• public ompl::multilevel::Projection_Identity (Class Projection_Identity)

• public ompl::multilevel::Projection_None (Class Projection_None)

• public ompl::multilevel::Projection_RNSO2_RN (Class Projection_RNSO2_RN)

• public ompl::multilevel::Projection_RN_RM (Class Projection_RN_RM)

• public ompl::multilevel::Projection_SE2RN_R2 (Class Projection_SE2RN_R2)

• public ompl::multilevel::Projection_SE2_R2 (Class Projection_SE2_R2)

• public ompl::multilevel::Projection_SE3RN_R3 (Class Projection_SE3RN_R3)

• public ompl::multilevel::Projection_SE3_R3 (Class Projection_SE3_R3)

• public ompl::multilevel::Projection_SO2N_SO2M (Class Projection_SO2N_SO2M)

• public ompl::multilevel::Projection_XRN_X (Class Projection_XRN_X)

• public ompl::multilevel::Projection_XRN_XRM (Class Projection_XRN_XRM)

Class Documentation

class FiberedProjection : public ompl::multilevel::Projection

Subclassed by ompl::multilevel::Projection_EmptySet, ompl::multilevel::Projection_Identity, ompl::multilevel::Projection_None, ompl::multilevel::Projection_RNSO2_RN, ompl::multilevel::Projection_RN_RM, ompl::multilevel::Projection_SE2RN_R2, ompl::multilevel::Projection_SE2_R2, ompl::multilevel::Projection_SE3RN_R3, ompl::multilevel::Projection_SE3_R3, ompl::multilevel::Projection_SO2N_SO2M, ompl::multilevel::Projection_XRN_X, ompl::multilevel::Projection_XRN_XRM

Public Functions

FiberedProjection(base::StateSpacePtr bundleSpace, base::StateSpacePtr baseSpace)

virtual ~FiberedProjection() = default

virtual void lift(const ompl::base::State *xBase, ompl::base::State *xBundle) const override

virtual void lift(const ompl::base::State *xBase, const ompl::base::State *xFiber, ompl::base::State *xBundle) const = 0

virtual void projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const = 0

virtual ompl::base::StateSpacePtr getFiberSpace() const

ompl::base::StateSamplerPtr getFiberSamplerPtr() const

unsigned int getFiberDimension() const

Dimension of Fiber Space.

std::string getFiberTypeAsString() const

virtual bool isFibered() const override

void makeFiberSpace()

Protected Functions

virtual ompl::base::StateSpacePtr computeFiberSpace() = 0

Protected Attributes

base::StateSpacePtr fiberSpace_ = {nullptr}

base::SpaceInformationPtr siFiberSpace_ = {nullptr}

base::StateSamplerPtr fiberSpaceSampler_

ompl::base::State *xFiberTmp_ = {nullptr}