Loading...
Searching...
No Matches
Head.h
1/*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2020,
5 * Max Planck Institute for Intelligent Systems (MPI-IS).
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * * Neither the name of the MPI-IS nor the names
19 * of its contributors may be used to endorse or promote products
20 * derived from this software without specific prior written
21 * permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *********************************************************************/
36
37/* Author: Andreas Orthey */
38
39#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_RESTRICTION_BASEPATHHEAD__
40#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_RESTRICTION_BASEPATHHEAD__
41#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
42
43namespace ompl
44{
45 namespace multilevel
46 {
47 OMPL_CLASS_FORWARD(BundleSpaceGraph);
48 OMPL_CLASS_FORWARD(PathRestriction);
49 OMPL_CLASS_FORWARD(FiberedProjection);
50
52
63 class Head
64 {
65 public:
66 Head(PathRestriction *restriction, Configuration *const xCurrent, Configuration *const xTarget);
67
68 Head(const Head &rhs);
69
70 ~Head();
71
73 const base::State *getState() const;
75 const base::State *getStateFiber() const;
77 const base::State *getStateBase() const;
78
85
87 void setCurrent(Configuration *, double);
88
92 const base::State *getStateTargetFiber() const;
95
99
101 const base::State *getBaseStateAt(int k) const;
103 int getBaseStateIndexAt(int k) const;
104
106 double getLocationOnBasePath() const;
108 void setLocationOnBasePath(double d);
109
111 int getNextValidBasePathIndex() const;
113 int getLastValidBasePathIndex() const;
114 void setLastValidBasePathIndex(int k);
115
117 friend std::ostream &operator<<(std::ostream &, const Head &);
118
119 void print(std::ostream &) const;
120
123
124 private:
125 double locationOnBasePath_{0.0};
126 int lastValidIndexOnBasePath_{0};
127
128 PathRestriction *restriction_{nullptr};
129
130 Configuration *xCurrent_{nullptr};
131 base::State *xBaseCurrent_{nullptr};
132 base::State *xFiberCurrent_{nullptr};
133
134 Configuration *xTarget_{nullptr};
135 base::State *xFiberTarget_{nullptr};
136 };
137 }
138}
139
140#endif
Definition of an abstract state.
Definition State.h:50
A pointer to a specific location on the base path of the path restriction.
Definition Head.h:64
void setLocationOnBasePath(double d)
Set location of head along base path.
Definition Head.cpp:213
Configuration * getTargetConfiguration() const
Get target configuration.
Definition Head.cpp:138
void setCurrent(Configuration *, double)
Setter for current configuration/state.
Definition Head.cpp:153
int getNextValidBasePathIndex() const
Get next base path index (after head)
Definition Head.cpp:180
int getLastValidBasePathIndex() const
Get last base path index (before head)
Definition Head.cpp:175
friend std::ostream & operator<<(std::ostream &, const Head &)
Pipe head to stream.
Definition Head.cpp:275
const base::State * getState() const
Get state to which head points.
Definition Head.cpp:113
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
Configuration * getConfiguration() const
Get state as configuration.
Definition Head.cpp:108
PathRestriction * getRestriction() const
Get underlying path restriction.
Definition Head.cpp:103
int getBaseStateIndexAt(int k) const
Get base state at base path index.
Definition Head.cpp:238
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).
Main namespace. Contains everything in this library.