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FindSectionSideStep.cpp
86bool FindSectionSideStep::recursiveSideStep(HeadPtr &head, bool interpolateFiberFirst, unsigned int depth)
89 FiberedProjectionPtr projection = std::static_pointer_cast<FiberedProjection>(graph->getProjection());
A configuration in Bundle-space.
Definition BundleSpaceGraph.h:96
virtual Vertex addConfiguration(Configuration *q)
Add configuration to graph. Return its vertex in boost graph.
Definition BundleSpaceGraph.cpp:354
virtual void addBundleEdge(const Configuration *a, const Configuration *b)
Add edge between configuration a and configuration b to graph.
Definition BundleSpaceGraph.cpp:349
ProjectionPtr getProjection() const
Get ProjectionPtr from Bundle to Base.
Definition BundleSpace.cpp:226
BundleSpace * getChild() const
Return k-1 th bundle space (locally the base space)
Definition BundleSpace.cpp:389
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
bool findFeasibleStateOnFiber(const base::State *xBase, base::State *xBundle)
Sample state on fiber while keeping base state fixed.
Definition FindSection.cpp:115
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
void interpolateBasePath(double t, base::State *&state) const
Interpolate state on base path at position t in [0, lengthbasepath_] (using discrete state representa...
Definition PathRestriction.cpp:119
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