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ompl::multilevel::FindSection Class Referenceabstract
Inheritance diagram for ompl::multilevel::FindSection:

Public Member Functions

 FindSection (PathRestriction *)
 
virtual bool solve (HeadPtr &head)=0
 
bool findFeasibleStateOnFiber (const base::State *xBase, base::State *xBundle)
 Sample state on fiber while keeping base state fixed.
 
bool tripleStep (HeadPtr &head, const base::State *sBundleGoal, double locationOnBasePathGoal)
 Triple step pattern.
 

Protected Attributes

PathRestrictionrestriction_
 Pointer to associated bundle space.
 
base::StatexBaseTmp_ {nullptr}
 
base::StatexBundleTmp_ {nullptr}
 
base::StatexFiberStart_ {nullptr}
 
base::StatexFiberGoal_ {nullptr}
 
base::StatexFiberTmp_ {nullptr}
 
ParameterExponentialDecay neighborhoodRadiusBaseSpace_
 Radius of restriction neighborhood.
 
double neighborhoodRadiusBaseSpaceLambda_ {1.0}
 
double neighborhoodRadiusBaseSpaceTarget_ {0.5}
 
double validBaseSpaceSegmentLength_
 Step size to check validity.
 
double validBundleSpaceSegmentLength_
 
double validFiberSpaceSegmentLength_
 

Detailed Description

Definition at line 76 of file FindSection.h.

Constructor & Destructor Documentation

◆ FindSection()

FindSection::FindSection ( PathRestriction restriction)

Definition at line 57 of file FindSection.cpp.

◆ ~FindSection()

FindSection::~FindSection ( )
virtual

Definition at line 94 of file FindSection.cpp.

Member Function Documentation

◆ findFeasibleStateOnFiber()

bool FindSection::findFeasibleStateOnFiber ( const base::State xBase,
base::State xBundle 
)

Sample state on fiber while keeping base state fixed.

Definition at line 115 of file FindSection.cpp.

◆ tripleStep()

bool FindSection::tripleStep ( HeadPtr &  head,
const base::State sBundleGoal,
double  locationOnBasePathGoal 
)

Triple step pattern.

Definition at line 150 of file FindSection.cpp.

Member Data Documentation

◆ neighborhoodRadiusBaseSpace_

ParameterExponentialDecay ompl::multilevel::FindSection::neighborhoodRadiusBaseSpace_
protected

Radius of restriction neighborhood.

Definition at line 105 of file FindSection.h.

◆ neighborhoodRadiusBaseSpaceLambda_

double ompl::multilevel::FindSection::neighborhoodRadiusBaseSpaceLambda_ {1.0}
protected

Definition at line 107 of file FindSection.h.

◆ neighborhoodRadiusBaseSpaceTarget_

double ompl::multilevel::FindSection::neighborhoodRadiusBaseSpaceTarget_ {0.5}
protected

Definition at line 109 of file FindSection.h.

◆ restriction_

PathRestriction* ompl::multilevel::FindSection::restriction_
protected

Pointer to associated bundle space.

Definition at line 94 of file FindSection.h.

◆ validBaseSpaceSegmentLength_

double ompl::multilevel::FindSection::validBaseSpaceSegmentLength_
protected

Step size to check validity.

Definition at line 112 of file FindSection.h.

◆ validBundleSpaceSegmentLength_

double ompl::multilevel::FindSection::validBundleSpaceSegmentLength_
protected

Definition at line 114 of file FindSection.h.

◆ validFiberSpaceSegmentLength_

double ompl::multilevel::FindSection::validFiberSpaceSegmentLength_
protected

Definition at line 116 of file FindSection.h.

◆ xBaseTmp_

base::State* ompl::multilevel::FindSection::xBaseTmp_ {nullptr}
protected

Definition at line 96 of file FindSection.h.

◆ xBundleTmp_

base::State* ompl::multilevel::FindSection::xBundleTmp_ {nullptr}
protected

Definition at line 97 of file FindSection.h.

◆ xFiberGoal_

base::State* ompl::multilevel::FindSection::xFiberGoal_ {nullptr}
protected

Definition at line 100 of file FindSection.h.

◆ xFiberStart_

base::State* ompl::multilevel::FindSection::xFiberStart_ {nullptr}
protected

Definition at line 99 of file FindSection.h.

◆ xFiberTmp_

base::State* ompl::multilevel::FindSection::xFiberTmp_ {nullptr}
protected

Definition at line 101 of file FindSection.h.


The documentation for this class was generated from the following files: