Loading...
Searching...
No Matches
Head.cpp
52 FiberedProjectionPtr projection = std::static_pointer_cast<FiberedProjection>(graph->getProjection());
90 FiberedProjectionPtr projection = std::static_pointer_cast<FiberedProjection>(graph->getProjection());
170 FiberedProjectionPtr projection = std::static_pointer_cast<FiberedProjection>(graph->getProjection());
264 out << "base location " << getLocationOnBasePath() << "/" << restriction_->getLengthBasePath() << " idx " << idx
ProjectionPtr getProjection() const
Get ProjectionPtr from Bundle to Base.
Definition BundleSpace.cpp:226
unsigned int getCoDimension() const
Dimension of Bundle Space - Dimension of Base Space.
Definition BundleSpace.cpp:346
const ompl::base::SpaceInformationPtr & getBundle() const
Get SpaceInformationPtr for Bundle.
Definition BundleSpace.cpp:323
const ompl::base::SpaceInformationPtr & getBase() const
Get SpaceInformationPtr for Base.
Definition BundleSpace.cpp:328
void project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
Bundle Space Projection Operator onto first component ProjectBase: Bundle \rightarrow Base.
Definition BundleSpace.cpp:464
A pointer to a specific location on the base path of the path restriction.
Definition Head.h:64
void setCurrent(Configuration *, double)
Setter for current configuration/state.
Definition Head.cpp:153
double getLocationOnBasePath() const
Get location in [0,1] on base path to which head points.
Definition Head.cpp:193
base::State * getStateFiberNonConst() const
Get projection of state onto fiber space (non const)
Definition Head.cpp:128
const base::State * getBaseStateAt(int k) const
Get target configuration projected onto fiber (non const)
Definition Head.cpp:223
const base::State * getStateFiber() const
Get projection of state onto fiber space.
Definition Head.cpp:118
int getNumberOfRemainingStates()
Remaining discrete states starting at head (including head) and relative to the head.
Definition Head.cpp:198
base::State * getStateBaseNonConst() const
Get projection of state onto base space (non const)
Definition Head.cpp:133
friend std::ostream & operator<<(std::ostream &, const Head &)
Pipe head to stream.
Definition Head.cpp:275
const base::State * getStateTargetFiber() const
Get target configuration projected onto fiber.
Definition Head.cpp:143
base::State * getStateTargetFiberNonConst() const
Get target configuration projected onto fiber (non const)
Definition Head.cpp:148
const base::State * getStateBase() const
Get projection of state onto base space.
Definition Head.cpp:123
Representation of path restriction (union of fibers over a base path).
Definition PathRestriction.h:99
BundleSpaceGraph * getBundleSpaceGraph()
Return pointer to underlying bundle space graph.
Definition PathRestriction.cpp:87
unsigned int size() const
Return number of discrete states in base path.
Definition PathRestriction.cpp:160
const std::vector< base::State * > & getBasePath() const
Return discrete states representation of base path.
Definition PathRestriction.cpp:150
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Definition MultiLevelPlanarManipulatorDemo.cpp:68
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66