Class Projection

Defined in File Projection.h

Inheritance Relationships

Derived Types

public ompl::multilevel::CompoundProjection (Class CompoundProjection)
public ompl::multilevel::FiberedProjection (Class FiberedProjection)

Class Documentation

class Projection

Subclassed by ompl::multilevel::CompoundProjection, ompl::multilevel::FiberedProjection

Public Functions

Projection() = delete

Projection(base::StateSpacePtr bundleSpace, base::StateSpacePtr baseSpace)

virtual ~Projection() = default

virtual void project(const ompl::base::State *xBundle, ompl::base::State *xBase) const = 0

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

virtual bool isFibered() const

unsigned int getCoDimension() const

unsigned int getDimension() const

unsigned int getBaseDimension() const

base::StateSpacePtr getBundle() const

base::StateSpacePtr getBase() const

virtual bool isAdmissible() const

ProjectionType getType() const

void setType(const ProjectionType)

std::string getTypeAsString() const

std::string getBundleTypeAsString() const

std::string getBaseTypeAsString() const

virtual void print(std::ostream &out) const: Print to stream.

std::string stateTypeToString(base::StateSpacePtr) const: Return string representing type of ompl::base::StateSpace.

Protected Attributes

base::StateSpacePtr bundleSpace_ = {nullptr}

base::StateSpacePtr baseSpace_ = {nullptr}

ProjectionType type_

Friends

friend std::ostream &operator<<(std::ostream &out, const Projection&): Print to stream (actual implementation in print(std::ostream &out))