Class FindSection

Defined in File FindSection.h

Inheritance Relationships

Derived Type

public ompl::multilevel::FindSectionSideStep (Class FindSectionSideStep)

Class Documentation

class FindSection

Subclassed by ompl::multilevel::FindSectionSideStep

Public Functions

FindSection() = delete

FindSection(PathRestriction*)

virtual ~FindSection()

virtual bool solve(HeadPtr &head) = 0

bool findFeasibleStateOnFiber(const base::State *xBase, base::State *xBundle): Sample state on fiber while keeping base state fixed.

bool tripleStep(HeadPtr &head, const base::State *sBundleGoal, double locationOnBasePathGoal): Triple step pattern.

Protected Attributes

PathRestriction *restriction_: Pointer to associated bundle space.

base::State *xBaseTmp_ = {nullptr}

base::State *xBundleTmp_ = {nullptr}

base::State *xFiberStart_ = {nullptr}

base::State *xFiberGoal_ = {nullptr}

base::State *xFiberTmp_ = {nullptr}

ParameterExponentialDecay neighborhoodRadiusBaseSpace_: Radius of restriction neighborhood.

double neighborhoodRadiusBaseSpaceLambda_ = {1.0}

double neighborhoodRadiusBaseSpaceTarget_ = {0.5}

double validBaseSpaceSegmentLength_: Step size to check validity.

double validBundleSpaceSegmentLength_

double validFiberSpaceSegmentLength_