Class FindSectionSideStep

• Defined in File FindSectionSideStep.h

Inheritance Relationships

Base Type

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

Class Documentation

class FindSectionSideStep : public ompl::multilevel::FindSection

Short description

FindSectionSideStep tries to solve the find section problem by going along an L1 interpolation towards the goal while no collision occurs. Once a collision occurs, we sample randomly on the current fiber and make side steps towards feasible samples. We then recursively continue from those samples.

External documentation

Andreas Orthey and Sohaib Akbar and Marc Toussaint, Multilevel Motion Planning: A Fiber Bundle Formulation, in arXiv:2007.09435 [cs.RO], 2020, [PDF]

Public Functions

FindSectionSideStep() = delete

FindSectionSideStep(PathRestriction*)

virtual ~FindSectionSideStep()

virtual bool solve(HeadPtr &head) override

bool recursiveSideStep(HeadPtr &head, bool interpolateFiberFirst = true, unsigned int depth = 0)