Class PathSection

Defined in File PathSection.h

Class Documentation

class PathSection

Representation of a path section (not necessarily feasible).

This class provides convenience methods to interpolate different path section over a given path restriction

Public Types

using Configuration = ompl::multilevel::BundleSpaceGraph::Configuration 

Public Functions

PathSection() = delete

PathSection(PathRestriction*)

virtual ~PathSection()

void interpolateL2(HeadPtr&)

void interpolateL1FiberFirst(HeadPtr&): Interpolate along restriction using L1 metric.

void interpolateL1FiberLast(HeadPtr&)

bool checkMotion(HeadPtr&)

Checks if section is feasible.

Return values:

True – if feasible and false if only partially feasible
Basepathheadptr – Return last valid

void sanityCheck(): checks if section is feasible

void sanityCheck(HeadPtr&)

base::State *at(int k) const: Methods to access sections like std::vector.

const base::State *back() const

const base::State *front() const

unsigned int size() const

Configuration *addFeasibleSegment(Configuration *xLast, base::State *sNext): Add vertex for sNext and edge to xLast by assuming motion is valid

void addFeasibleGoalSegment(Configuration *xLast, Configuration *xGoal)

void print(std::ostream&) const

Protected Attributes

PathRestriction *restriction_

std::vector<base::State*> section_: Interpolated section along restriction.

std::vector<int> sectionBaseStateIndices_

std::pair<base::State*, double> lastValid_: Last valid state on feasible segment.

int lastValidIndexOnBasePath_

base::State *xBaseTmp_ = {nullptr}

base::State *xBundleTmp_ = {nullptr}

base::State *xFiberStart_ = {nullptr}

base::State *xFiberGoal_ = {nullptr}

base::State *xFiberTmp_ = {nullptr}

Friends

friend std::ostream &operator<<(std::ostream&, const PathSection&)