3#include <ompl/multilevel/datastructures/projections/FiberedProjection.h>
4#include <ompl/base/StateSpace.h>
5#include <ompl/base/SpaceInformation.h>
9FiberedProjection::FiberedProjection(ompl::base::StateSpacePtr bundleSpace, ompl::base::StateSpacePtr baseSpace)
16 fiberSpaceSampler_->sampleUniform(xFiberTmp_);
17 lift(xBase, xFiberTmp_, xBundle);
20ompl::base::StateSpacePtr FiberedProjection::getFiberSpace()
const
25bool FiberedProjection::isFibered()
const
33 return fiberSpace_->getDimension();
38std::string FiberedProjection::getFiberTypeAsString()
const
46void FiberedProjection::makeFiberSpace()
48 fiberSpace_ = computeFiberSpace();
50 if (fiberSpace_ !=
nullptr)
52 siFiberSpace_ = std::make_shared<ompl::base::SpaceInformation>(fiberSpace_);
53 fiberSpaceSampler_ = siFiberSpace_->allocStateSampler();
54 xFiberTmp_ = siFiberSpace_->allocState();
58ompl::base::StateSamplerPtr FiberedProjection::getFiberSamplerPtr()
const
60 return fiberSpaceSampler_;
Definition of an abstract state.
unsigned int getFiberDimension() const
Dimension of Fiber Space.
std::string stateTypeToString(base::StateSpacePtr) const
Return string representing type of ompl::base::StateSpace.
This namespace contains datastructures and planners to exploit multilevel abstractions,...