Class Head

Defined in File Head.h

Class Documentation

class Head

A pointer to a specific location on the base path of the path restriction.

This class contains information about the current location over the base path, including the distance traveled from start, the last index of the base path states and information about the fiber space and fiber element at the current location. Can be used to interpolate from current location to goal of path restriction.

Public Functions

Head(PathRestriction *restriction, Configuration *const xCurrent, Configuration *const xTarget)

Head(const Head &rhs)

~Head()

const base::State *getState() const: Get state to which head points.

const base::State *getStateFiber() const: Get projection of state onto fiber space.

const base::State *getStateBase() const: Get projection of state onto base space.

base::State *getStateFiberNonConst() const: Get projection of state onto fiber space (non const)

base::State *getStateBaseNonConst() const: Get projection of state onto base space (non const)

Configuration *getConfiguration() const: Get state as configuration.

void setCurrent(Configuration*, double): Setter for current configuration/state.

Configuration *getTargetConfiguration() const: Get target configuration.

const base::State *getStateTargetFiber() const: Get target configuration projected onto fiber.

base::State *getStateTargetFiberNonConst() const: Get target configuration projected onto fiber (non const)

int getNumberOfRemainingStates(): Remaining discrete states starting at head (including head) and relative to the head.

const base::State *getBaseStateAt(int k) const: Get target configuration projected onto fiber (non const)

int getBaseStateIndexAt(int k) const: Get base state at base path index.

double getLocationOnBasePath() const: Get location in [0,1] on base path to which head points.

void setLocationOnBasePath(double d): Set location of head along base path.

int getNextValidBasePathIndex() const: Get next base path index (after head)

int getLastValidBasePathIndex() const: Get last base path index (before head)

void setLastValidBasePathIndex(int k)

void print(std::ostream&) const

PathRestriction *getRestriction() const: Get underlying path restriction.

Friends

friend std::ostream &operator<<(std::ostream&, const Head&): Pipe head to stream.