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<li class="navelem"><b>ompl</b></li><li class="navelem"><b>base</b></li><li class="navelem"><b>spaces</b></li><li class="navelem"><b>constraint</b></li><li class="navelem"><b>src</b></li> </ul>
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<div class="headertitle"><div class="title">AtlasStateSpace.cpp</div></div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*********************************************************************</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> *</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> * Copyright (c) 2014 Rice University</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * All rights reserved.</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> *</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * are met:</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> *</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"> * with the distribution.</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment"> * * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment"> * from this software without specific prior written permission.</span></div>
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<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="comment"> *********************************************************************/</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="comment">/* Author: Zachary Kingston, Caleb Voss */</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include "ompl/base/spaces/constraint/AtlasStateSpace.h"</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include "ompl/base/spaces/constraint/AtlasChart.h"</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include "ompl/base/SpaceInformation.h"</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include "ompl/util/Exception.h"</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> </div>
<div class="foldopen" id="foldopen00047" data-start="{" data-end="}">
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSampler.html#ad8a0fc7824b684b300bdb28dcea6de0d"> 47</a></span><a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSampler.html#ad8a0fc7824b684b300bdb28dcea6de0d">ompl::base::AtlasStateSampler::AtlasStateSampler</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace.html">AtlasStateSpace</a> *space) : StateSampler(space), atlas_(space)</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span>{</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span>}</div>
</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> </div>
<div class="foldopen" id="foldopen00051" data-start="{" data-end="}">
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSampler.html#acf6b11271ba004cd728c5914999af2c3"> 51</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSampler.html#acf6b11271ba004cd728c5914999af2c3">ompl::base::AtlasStateSampler::sampleUniform</a>(<a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *state)</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span>{</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <span class="keyword">auto</span> astate = state-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">AtlasStateSpace::StateType</a>>();</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="keyword">const</span> std::size_t k = atlas_->getManifoldDimension();</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> Eigen::VectorXd ru(k);</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> </div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *c;</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> </div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="comment">// Sampling a point on the manifold.</span></div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tries = ompl::magic::ATLAS_STATE_SPACE_SAMPLES;</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <span class="keywordflow">do</span></div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> {</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="comment">// Rejection sampling to find a point inside a chart's polytope.</span></div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <span class="keywordflow">do</span></div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> {</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <span class="comment">// Pick a chart.</span></div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> c = atlas_->sampleChart();</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> </div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="comment">// Sample a point within rho_s of the center. This is done by</span></div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="comment">// sampling uniformly on the surface and multiplying by a dist</span></div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="comment">// whose distribution is biased according to spherical volume.</span></div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keywordflow">for</span> (std::size_t i = 0; i < k; ++i)</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> ru[i] = rng_.gaussian01();</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> </div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> ru *= atlas_->getRho_s() * std::pow(rng_.uniform01(), 1.0 / k) / ru.norm();</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> } <span class="keywordflow">while</span> (tries-- > 0 && !c-><a class="code hl_function" href="classompl_1_1base_1_1AtlasChart.html#a05629a40e81a141f70084c186d0e8b1e">inPolytope</a>(ru));</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> </div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="comment">// Project. Will need to try again if this fails.</span></div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> } <span class="keywordflow">while</span> (tries > 0 && !c-><a class="code hl_function" href="classompl_1_1base_1_1AtlasChart.html#a593871dafb4eded9ba4152375636f6b1">psi</a>(ru, *astate));</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> </div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keywordflow">if</span> (tries == 0)</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> {</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <span class="comment">// Consider decreasing rho and/or the exploration paramter if this</span></div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <span class="comment">// becomes a problem.</span></div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::sampleUniform(): "</span></div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <span class="stringliteral">"Took too long; returning center of a random chart."</span>);</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> atlas_->copyState(astate, c-><a class="code hl_function" href="classompl_1_1base_1_1AtlasChart.html#ac842525b1999a803ca0b6bb395190537">getOrigin</a>());</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> }</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> </div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> <a class="code hl_variable" href="classompl_1_1base_1_1StateSampler.html#ade7594512889b577995b3479c71f3b6d">space_</a>->enforceBounds(state);</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <span class="comment">// Extend polytope of neighboring chart wherever point is near the border.</span></div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> c-><a class="code hl_function" href="classompl_1_1base_1_1AtlasChart.html#ad85f550b77dadee97c78cf4fdf90b03f">psiInverse</a>(*astate, ru);</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> c-><a class="code hl_function" href="classompl_1_1base_1_1AtlasChart.html#a87c309b951f651df5b9f999c289a6d46">borderCheck</a>(ru);</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> astate->setChart(atlas_->owningChart(astate));</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span>}</div>
</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> </div>
<div class="foldopen" id="foldopen00099" data-start="{" data-end="}">
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSampler.html#af5aa235ae4f292ee1c7a4905066cff17"> 99</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSampler.html#af5aa235ae4f292ee1c7a4905066cff17">ompl::base::AtlasStateSampler::sampleUniformNear</a>(<a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *state, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *near, <span class="keyword">const</span> <span class="keywordtype">double</span> dist)</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span>{</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="comment">// Find the chart that the starting point is on.</span></div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keyword">auto</span> astate = state-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">AtlasStateSpace::StateType</a>>();</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keyword">auto</span> anear = near-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">AtlasStateSpace::StateType</a>>();</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> </div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keyword">const</span> std::size_t k = atlas_->getManifoldDimension();</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> </div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> Eigen::VectorXd ru(k), uoffset(k);</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> </div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *c = atlas_->getChart(anear, <span class="keyword">true</span>);</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordflow">if</span> (c == <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> {</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::sampleUniformNear(): "</span></div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="stringliteral">"Sampling failed because chart creation failed! Falling back to uniform sample."</span>);</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSampler.html#acf6b11271ba004cd728c5914999af2c3">sampleUniform</a>(state);</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <span class="keywordflow">return</span>;</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> }</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> </div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <span class="comment">// Sample a point from the starting chart.</span></div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> c-><a class="code hl_function" href="classompl_1_1base_1_1AtlasChart.html#ad85f550b77dadee97c78cf4fdf90b03f">psiInverse</a>(*anear, ru);</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tries = ompl::magic::ATLAS_STATE_SPACE_SAMPLES;</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keywordflow">do</span></div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> {</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="comment">// Sample within dist</span></div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keywordflow">for</span> (std::size_t i = 0; i < k; ++i)</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> uoffset[i] = ru[i] + rng_.gaussian01();</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> </div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> uoffset *= dist * std::pow(rng_.uniform01(), 1.0 / k) / uoffset.norm();</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> } <span class="keywordflow">while</span> (--tries > 0 && !c-><a class="code hl_function" href="classompl_1_1base_1_1AtlasChart.html#a593871dafb4eded9ba4152375636f6b1">psi</a>(uoffset, *astate)); <span class="comment">// Try again if we can't project.</span></div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> </div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keywordflow">if</span> (tries == 0)</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> {</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="comment">// Consider decreasing the dist argument if this becomes a</span></div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <span class="comment">// problem. Check planner code to see how it gets chosen.</span></div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"ompl::base:::AtlasStateSpace::sampleUniformNear(): "</span></div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="stringliteral">"Took too long; returning initial point."</span>);</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> atlas_->copyState(state, near);</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> }</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> </div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <a class="code hl_variable" href="classompl_1_1base_1_1StateSampler.html#ade7594512889b577995b3479c71f3b6d">space_</a>->enforceBounds(state);</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> </div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> c-><a class="code hl_function" href="classompl_1_1base_1_1AtlasChart.html#ad85f550b77dadee97c78cf4fdf90b03f">psiInverse</a>(*astate, ru);</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keywordflow">if</span> (!c-><a class="code hl_function" href="classompl_1_1base_1_1AtlasChart.html#a05629a40e81a141f70084c186d0e8b1e">inPolytope</a>(ru))</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> c = atlas_->getChart(astate, <span class="keyword">true</span>);</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> c-><a class="code hl_function" href="classompl_1_1base_1_1AtlasChart.html#a87c309b951f651df5b9f999c289a6d46">borderCheck</a>(ru);</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> </div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> astate->setChart(c);</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span>}</div>
</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> </div>
<div class="foldopen" id="foldopen00150" data-start="{" data-end="}">
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSampler.html#ad1eb7ed1443bbabf3cc1797c2602a2a8"> 150</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSampler.html#ad1eb7ed1443bbabf3cc1797c2602a2a8">ompl::base::AtlasStateSampler::sampleGaussian</a>(<a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *state, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *mean, <span class="keyword">const</span> <span class="keywordtype">double</span> stdDev)</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span>{</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keyword">auto</span> astate = state-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">AtlasStateSpace::StateType</a>>();</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keyword">auto</span> amean = mean-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">AtlasStateSpace::StateType</a>>();</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> </div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keyword">const</span> std::size_t k = atlas_->getManifoldDimension();</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> Eigen::VectorXd ru(k), rand(k);</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> </div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *c = atlas_->getChart(amean, <span class="keyword">true</span>);</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordflow">if</span> (c == <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> {</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::sampleGaussian(): "</span></div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="stringliteral">"Sampling failed because chart creation failed! Falling back to uniform sample."</span>);</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSampler.html#acf6b11271ba004cd728c5914999af2c3">sampleUniform</a>(state);</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keywordflow">return</span>;</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> }</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> </div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> c-><a class="code hl_function" href="classompl_1_1base_1_1AtlasChart.html#ad85f550b77dadee97c78cf4fdf90b03f">psiInverse</a>(*amean, ru);</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> </div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="comment">// Sample a point in a normal distribution on the starting chart.</span></div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tries = ompl::magic::ATLAS_STATE_SPACE_SAMPLES;</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> </div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="keywordflow">do</span></div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> {</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordflow">for</span> (std::size_t i = 0; i < k; i++)</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> rand[i] = ru[i] + rng_.gaussian(0, stdDev);</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> } <span class="keywordflow">while</span> (--tries > 0 && !c-><a class="code hl_function" href="classompl_1_1base_1_1AtlasChart.html#a593871dafb4eded9ba4152375636f6b1">psi</a>(rand, *astate)); <span class="comment">// Try again if we can't project.</span></div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> </div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="keywordflow">if</span> (tries == 0)</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> {</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::sampleUniforGaussian(): "</span></div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="stringliteral">"Took too long; returning initial point."</span>);</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> atlas_->copyState(state, mean);</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> }</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> </div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> <a class="code hl_variable" href="classompl_1_1base_1_1StateSampler.html#ade7594512889b577995b3479c71f3b6d">space_</a>->enforceBounds(state);</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> </div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> c-><a class="code hl_function" href="classompl_1_1base_1_1AtlasChart.html#ad85f550b77dadee97c78cf4fdf90b03f">psiInverse</a>(*astate, ru);</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="keywordflow">if</span> (!c-><a class="code hl_function" href="classompl_1_1base_1_1AtlasChart.html#a05629a40e81a141f70084c186d0e8b1e">inPolytope</a>(ru))</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> c = atlas_->getChart(astate, <span class="keyword">true</span>);</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> c-><a class="code hl_function" href="classompl_1_1base_1_1AtlasChart.html#a87c309b951f651df5b9f999c289a6d46">borderCheck</a>(ru);</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> </div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> astate->setChart(c);</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span>}</div>
</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span></div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span></div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> </div>
<div class="foldopen" id="foldopen00200" data-start="{" data-end="}">
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#ac9680d2943d722a9249dcfe9c2d68c95"> 200</a></span><a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#ac9680d2943d722a9249dcfe9c2d68c95">ompl::base::AtlasStateSpace::AtlasStateSpace</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> &ambientSpace, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1ConstraintPtr.html">ConstraintPtr</a> &constraint,</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keywordtype">bool</span> separate)</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> : <a class="code hl_function" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a9673ee354444d18a0c32d85f232e8382">ConstrainedStateSpace</a>(ambientSpace, constraint)</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> , <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#ac65baf8bfe82bca037c50d58eac26768">biasFunction_</a>([](<a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *) -> double { return 1; })</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> , separate_(separate)</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span>{</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> setRho(delta_ * ompl::magic::ATLAS_STATE_SPACE_RHO_MULTIPLIER);</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> setAlpha(ompl::magic::ATLAS_STATE_SPACE_ALPHA);</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> setExploration(ompl::magic::ATLAS_STATE_SPACE_EXPLORATION);</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> </div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> setName(<span class="stringliteral">"Atlas"</span> + space_->getName());</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> </div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> chartNN_.setDistanceFunction([&](<span class="keyword">const</span> NNElement &e1, <span class="keyword">const</span> NNElement &e2) -> <span class="keywordtype">double</span></div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> { <span class="keywordflow">return</span> distance(e1.first, e2.first); });</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span>}</div>
</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> </div>
<div class="foldopen" id="foldopen00216" data-start="{" data-end="}">
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a1d8b2107cb33703c2113844955ff7007"> 216</a></span><a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#a1d8b2107cb33703c2113844955ff7007">ompl::base::AtlasStateSpace::~AtlasStateSpace</a>()</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span>{</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> <span class="comment">// Delete anchors first so clear does no reinitialization.</span></div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> anchor : <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a1707a7af91a7823f0a555fae71b3c10e">anchors_</a>)</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <a class="code hl_function" href="classompl_1_1base_1_1WrapperStateSpace.html#a7e23b962c847a2707314bb9d44cd91f7">freeState</a>(anchor);</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> </div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a1707a7af91a7823f0a555fae71b3c10e">anchors_</a>.clear();</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#a11dc065788df57321c9699b56f3265d8">clear</a>();</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span>}</div>
</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> </div>
<div class="foldopen" id="foldopen00226" data-start="{" data-end="}">
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a11dc065788df57321c9699b56f3265d8"> 226</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#a11dc065788df57321c9699b56f3265d8">ompl::base::AtlasStateSpace::clear</a>()</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span>{</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="comment">// Delete the non-anchor charts</span></div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> chart : <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a4e2c8b252c89a942dfb7ea2fd3d62836">charts_</a>)</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keyword">delete</span> chart;</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a4e2c8b252c89a942dfb7ea2fd3d62836">charts_</a>.clear();</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> </div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> std::vector<NNElement> nnList;</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#aa3c31838cee531ba238bfc2033c78afa">chartNN_</a>.list(nnList);</div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &chart : nnList)</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> {</div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *state = chart.first;</div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <a class="code hl_function" href="classompl_1_1base_1_1WrapperStateSpace.html#a7e23b962c847a2707314bb9d44cd91f7">freeState</a>(<span class="keyword">const_cast<</span><a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *<span class="keyword">></span>(state));</div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> }</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> </div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#aa3c31838cee531ba238bfc2033c78afa">chartNN_</a>.clear();</div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a4561491fb48347fc1da92d5922e904cc">chartPDF_</a>.clear();</div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> </div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <span class="comment">// Reinstate the anchor charts</span></div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> anchor : <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a1707a7af91a7823f0a555fae71b3c10e">anchors_</a>)</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#acf67311c4c5c681e99fbf3b21e34bce4">newChart</a>(anchor);</div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> </div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> <a class="code hl_function" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a50701a7c829dbe5869376ad5eba1f601">ConstrainedStateSpace::clear</a>();</div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span>}</div>
</div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> </div>
<div class="foldopen" id="foldopen00251" data-start="{" data-end="}">
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a7b811b3a8ac551d83063f6d08e5ba5fe"> 251</a></span><a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">ompl::base::AtlasChart</a> *<a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#a7b811b3a8ac551d83063f6d08e5ba5fe">ompl::base::AtlasStateSpace::anchorChart</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *state)<span class="keyword"> const</span></div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="keyword">auto</span> anchor = <a class="code hl_function" href="classompl_1_1base_1_1StateSpace.html#aca89451f148cad4627c3c6887e0186e4">cloneState</a>(state)->as<<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a>>();</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a1707a7af91a7823f0a555fae71b3c10e">anchors_</a>.push_back(anchor);</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> </div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> <span class="comment">// This could fail with an exception. We cannot recover if that happens.</span></div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> <a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *chart = <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#acf67311c4c5c681e99fbf3b21e34bce4">newChart</a>(anchor);</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> <span class="keywordflow">if</span> (chart == <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> <span class="keywordflow">throw</span> <a class="code hl_class" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::anchorChart(): "</span></div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <span class="stringliteral">"Initial chart creation failed. Cannot proceed."</span>);</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> </div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="keywordflow">return</span> chart;</div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span>}</div>
</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> </div>
<div class="foldopen" id="foldopen00265" data-start="{" data-end="}">
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#acf67311c4c5c681e99fbf3b21e34bce4"> 265</a></span><a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">ompl::base::AtlasChart</a> *<a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#acf67311c4c5c681e99fbf3b21e34bce4">ompl::base::AtlasStateSpace::newChart</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a> *state)<span class="keyword"> const</span></div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *chart;</div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a> *cstate = <span class="keyword">nullptr</span>;</div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> </div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> <span class="keywordflow">try</span></div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> {</div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> cstate = <a class="code hl_function" href="classompl_1_1base_1_1StateSpace.html#aca89451f148cad4627c3c6887e0186e4">cloneState</a>(state)->as<<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a>>();</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> chart = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a>(<span class="keyword">this</span>, cstate);</div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> }</div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keywordflow">catch</span> (<a class="code hl_class" href="classompl_1_1Exception.html">ompl::Exception</a> &e)</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> {</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::newChart(): "</span></div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="stringliteral">"Failed because manifold looks degenerate here."</span>);</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> </div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> <span class="keywordflow">if</span> (cstate != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> <a class="code hl_function" href="classompl_1_1base_1_1WrapperStateSpace.html#a7e23b962c847a2707314bb9d44cd91f7">freeState</a>(cstate);</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> </div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> }</div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> </div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> <span class="comment">// Ensure all charts respect boundaries of the new one, and vice versa, but</span></div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> <span class="comment">// only look at nearby ones (within 2*rho).</span></div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#aec1c3bbc0443fe2f327856770b924268">separate_</a>)</div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> {</div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> std::vector<NNElement> nearbyCharts;</div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#aa3c31838cee531ba238bfc2033c78afa">chartNN_</a>.nearestR(std::make_pair(cstate, 0), 2 * <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a7fad144043cebd2fd03151620146203e">rho_s_</a>, nearbyCharts);</div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> </div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &&near : nearbyCharts)</div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> {</div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> <a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *other = <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a4e2c8b252c89a942dfb7ea2fd3d62836">charts_</a>[near.second];</div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> <a class="code hl_function" href="classompl_1_1base_1_1AtlasChart.html#ac7362faa11728b8b8777ec89bfea64a3">AtlasChart::generateHalfspace</a>(other, chart);</div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> </div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a4561491fb48347fc1da92d5922e904cc">chartPDF_</a>.update(<a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a4561491fb48347fc1da92d5922e904cc">chartPDF_</a>.getElements()[near.second], <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#ac65baf8bfe82bca037c50d58eac26768">biasFunction_</a>(other));</div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> }</div>
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> }</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> </div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#aa3c31838cee531ba238bfc2033c78afa">chartNN_</a>.add(std::make_pair(cstate, <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a4e2c8b252c89a942dfb7ea2fd3d62836">charts_</a>.size()));</div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a4e2c8b252c89a942dfb7ea2fd3d62836">charts_</a>.push_back(chart);</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a4561491fb48347fc1da92d5922e904cc">chartPDF_</a>.add(chart, <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#ac65baf8bfe82bca037c50d58eac26768">biasFunction_</a>(chart));</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> </div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keywordflow">return</span> chart;</div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span>}</div>
</div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> </div>
<div class="foldopen" id="foldopen00309" data-start="{" data-end="}">
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a29d7d75c551537d5582440abf3bb36bf"> 309</a></span><a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">ompl::base::AtlasChart</a> *<a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#a29d7d75c551537d5582440abf3bb36bf">ompl::base::AtlasStateSpace::sampleChart</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a4e2c8b252c89a942dfb7ea2fd3d62836">charts_</a>.empty())</div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> <span class="keywordflow">throw</span> <a class="code hl_class" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::sampleChart(): "</span></div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> <span class="stringliteral">"Atlas sampled before any charts were made. Use AtlasStateSpace::anchorChart() first."</span>);</div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> </div>
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a4561491fb48347fc1da92d5922e904cc">chartPDF_</a>.sample(<a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#ab775301c175d22645c5548732ccdaaa5">rng_</a>.uniform01());</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span>}</div>
</div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> </div>
<div class="foldopen" id="foldopen00318" data-start="{" data-end="}">
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#afb524fb0dc17a128e3662c12690e2292"> 318</a></span><a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">ompl::base::AtlasChart</a> *<a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#afb524fb0dc17a128e3662c12690e2292">ompl::base::AtlasStateSpace::getChart</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a> *state, <span class="keywordtype">bool</span> force, <span class="keywordtype">bool</span> *created)<span class="keyword"> const</span></div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *c = state-><a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#a9a9384de63fbb2f695c10ff00a660754">getChart</a>();</div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> <span class="keywordflow">if</span> (c == <span class="keyword">nullptr</span> || force)</div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> {</div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> c = <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#a39f3a4b97f115cbfabf154e29394d104">owningChart</a>(state);</div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> </div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> <span class="keywordflow">if</span> (c == <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> {</div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> c = <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#acf67311c4c5c681e99fbf3b21e34bce4">newChart</a>(state);</div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> <span class="keywordflow">if</span> (created != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> *created = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> }</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> </div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <span class="keywordflow">if</span> (c != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> state-><a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#ac757ac98d6c7ffc78b86da02361f93dc">setChart</a>(c);</div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> }</div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> </div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> <span class="keywordflow">return</span> c;</div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span>}</div>
</div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> </div>
<div class="foldopen" id="foldopen00339" data-start="{" data-end="}">
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a39f3a4b97f115cbfabf154e29394d104"> 339</a></span><a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">ompl::base::AtlasChart</a> *<a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#a39f3a4b97f115cbfabf154e29394d104">ompl::base::AtlasStateSpace::owningChart</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a> *state)<span class="keyword"> const</span></div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> Eigen::VectorXd u_t(<a class="code hl_variable" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ac26fa6580e0ffaa11c388bd19ba8e135">k_</a>);</div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <span class="keyword">auto</span> temp = <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#af2191d25ff91daf7e707f341fc7cf85e">allocState</a>()->as<<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a>>();</div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> </div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> std::vector<NNElement> nearby;</div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#aa3c31838cee531ba238bfc2033c78afa">chartNN_</a>.nearestR(std::make_pair(state, 0), <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#aef8f443a2f089e99ed7dbdc9adf51df0">rho_</a>, nearby);</div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> </div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keywordtype">double</span> best = <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a7e3637aef4a7b7980e753d8c8c0ba66f">epsilon_</a>;</div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *chart = <span class="keyword">nullptr</span>;</div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &near : nearby)</div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> {</div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <span class="comment">// The point must lie in the chart's validity region and polytope</span></div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <span class="keyword">auto</span> owner = <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a4e2c8b252c89a942dfb7ea2fd3d62836">charts_</a>[near.second];</div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> owner->psiInverse(*state, u_t);</div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> owner->phi(u_t, *temp);</div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> </div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="keywordtype">double</span> far;</div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> <span class="keywordflow">if</span> (owner->inPolytope(u_t) <span class="comment">// in polytope</span></div>
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> && (far = <a class="code hl_function" href="classompl_1_1base_1_1WrapperStateSpace.html#ada6102cb4e47614f270b160b0ba70402">distance</a>(state, temp)) < <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a7e3637aef4a7b7980e753d8c8c0ba66f">epsilon_</a> <span class="comment">// within epsilon</span></div>
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> && far < best)</div>
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> {</div>
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> best = far;</div>
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> chart = owner;</div>
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> }</div>
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> }</div>
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> </div>
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> <a class="code hl_function" href="classompl_1_1base_1_1WrapperStateSpace.html#a7e23b962c847a2707314bb9d44cd91f7">freeState</a>(temp);</div>
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> <span class="keywordflow">return</span> chart;</div>
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span>}</div>
</div>
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> </div>
<div class="foldopen" id="foldopen00370" data-start="{" data-end="}">
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a794b909f11eaabe07509aad2cf9c29c2"> 370</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#a794b909f11eaabe07509aad2cf9c29c2">ompl::base::AtlasStateSpace::discreteGeodesic</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *from, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *to, <span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a76c3278b1b6efdcd588a6609666281db">interpolate</a>,</div>
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> std::vector<ompl::base::State *> *geodesic)<span class="keyword"> const</span></div>
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> <span class="keyword">auto</span> &&svc = <a class="code hl_variable" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ae715b570b104c090708de69d8c5da343">si_</a>->getStateValidityChecker();</div>
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> </div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> <span class="comment">// We can't traverse the manifold if we don't start on it.</span></div>
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classompl_1_1base_1_1ConstrainedStateSpace.html#aeef3f0a5675e4246ebcddb13a4f2b166">constraint_</a>->isSatisfied(from) || !(<a class="code hl_function" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a76c3278b1b6efdcd588a6609666281db">interpolate</a> || svc->isValid(from)))</div>
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> </div>
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> <span class="keyword">auto</span> afrom = from-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a>>();</div>
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> <span class="keyword">auto</span> ato = to-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a>>();</div>
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> </div>
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> <span class="comment">// Try to get starting chart from `from` state.</span></div>
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *c = <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#afb524fb0dc17a128e3662c12690e2292">getChart</a>(afrom);</div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> <span class="keywordflow">if</span> (c == <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> </div>
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> <span class="comment">// Save a copy of the from state.</span></div>
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <span class="keywordflow">if</span> (geodesic != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> {</div>
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> geodesic->clear();</div>
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> geodesic->push_back(<a class="code hl_function" href="classompl_1_1base_1_1StateSpace.html#aca89451f148cad4627c3c6887e0186e4">cloneState</a>(from));</div>
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> }</div>
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> </div>
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> <span class="comment">// No need to traverse the manifold if we are already there</span></div>
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> <span class="keyword">const</span> <span class="keywordtype">double</span> tolerance = <a class="code hl_variable" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a84da2ea2a24f81f0c8f0407fe9e4309b">delta_</a>;</div>
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> <span class="keyword">const</span> <span class="keywordtype">double</span> distTo = <a class="code hl_function" href="classompl_1_1base_1_1WrapperStateSpace.html#ada6102cb4e47614f270b160b0ba70402">distance</a>(from, to);</div>
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> <span class="keywordflow">if</span> (distTo <= tolerance)</div>
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> </div>
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> <span class="comment">// Traversal stops if the ball of radius distMax centered at x_from is left</span></div>
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> <span class="keyword">const</span> <span class="keywordtype">double</span> distMax = <a class="code hl_variable" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a6de1afc3140a0df5a8a659ee124883d1">lambda_</a> * distTo;</div>
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> </div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> <span class="comment">// Create a scratch state to use for movement.</span></div>
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> <span class="keyword">auto</span> scratch = <a class="code hl_function" href="classompl_1_1base_1_1StateSpace.html#aca89451f148cad4627c3c6887e0186e4">cloneState</a>(from)->as<<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a>>();</div>
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> <span class="keyword">auto</span> temp = <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#af2191d25ff91daf7e707f341fc7cf85e">allocState</a>()->as<<a class="code hl_class" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a>>();</div>
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> </div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <span class="comment">// Project from and to points onto the chart</span></div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> Eigen::VectorXd u_j(<a class="code hl_variable" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ac26fa6580e0ffaa11c388bd19ba8e135">k_</a>), u_b(<a class="code hl_variable" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ac26fa6580e0ffaa11c388bd19ba8e135">k_</a>);</div>
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> c->psiInverse(*scratch, u_j);</div>
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> c->psiInverse(*ato, u_b);</div>
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> </div>
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span> <span class="keywordtype">bool</span> done = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> std::size_t chartsCreated = 0;</div>
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span> <span class="keywordtype">double</span> dist = 0;</div>
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> </div>
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span> <span class="keywordtype">double</span> factor = 1;</div>
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span> </div>
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> <span class="keywordflow">do</span></div>
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> {</div>
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> <span class="keywordflow">if</span> (factor < <a class="code hl_variable" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a84da2ea2a24f81f0c8f0407fe9e4309b">delta_</a>)</div>
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"> 422</span> </div>
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> <span class="comment">// Take a step towards the final state</span></div>
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> u_j += factor * <a class="code hl_variable" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a84da2ea2a24f81f0c8f0407fe9e4309b">delta_</a> * (u_b - u_j).normalized();</div>
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> </div>
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> <span class="comment">// will also bork on non-finite numbers</span></div>
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> onManifold = c->psi(u_j, *temp);</div>
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> <span class="keywordflow">if</span> (!onManifold)</div>
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> {</div>
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> done = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> }</div>
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> </div>
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> <span class="keyword">const</span> <span class="keywordtype">double</span> step = <a class="code hl_function" href="classompl_1_1base_1_1WrapperStateSpace.html#ada6102cb4e47614f270b160b0ba70402">distance</a>(scratch, temp);</div>
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> </div>
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span> <span class="keywordflow">if</span> (step < std::numeric_limits<double>::epsilon())</div>
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> </div>
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> exceedStepSize = step >= <a class="code hl_variable" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a6de1afc3140a0df5a8a659ee124883d1">lambda_</a> * <a class="code hl_variable" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a84da2ea2a24f81f0c8f0407fe9e4309b">delta_</a>;</div>
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span> <span class="keywordflow">if</span> (exceedStepSize)</div>
<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> {</div>
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> factor *= <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#aa29f947d5b2cce8fccfcd5d22519d2ad">backoff_</a>;</div>
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <span class="keywordflow">continue</span>;</div>
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> }</div>
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span> </div>
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"> 446</span> dist += step;</div>
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> </div>
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> <span class="comment">// Update state</span></div>
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#a656b759972d7d6442ba9ebc91a0eb043">copyState</a>(scratch, temp);</div>
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> scratch->setChart(c);</div>
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> </div>
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> <span class="keywordflow">if</span> (!(<a class="code hl_function" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a76c3278b1b6efdcd588a6609666281db">interpolate</a> || svc->isValid(scratch)) <span class="comment">// not valid</span></div>
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> || <a class="code hl_function" href="classompl_1_1base_1_1WrapperStateSpace.html#ada6102cb4e47614f270b160b0ba70402">distance</a>(from, scratch) > distMax <span class="comment">// exceed max dist</span></div>
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> || dist > distMax <span class="comment">// exceed wandering</span></div>
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> || chartsCreated > <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a29464943c968c35f97761fee60121a5e">maxChartsPerExtension_</a>) <span class="comment">// exceed chart limit</span></div>
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span> {</div>
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> done = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> }</div>
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> </div>
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> <span class="comment">// Check if we left the validity region or polytope of the chart.</span></div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> c->phi(u_j, *temp);</div>
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> </div>
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> <span class="comment">// Find or make a new chart if new state is off of current chart</span></div>
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="classompl_1_1base_1_1WrapperStateSpace.html#ada6102cb4e47614f270b160b0ba70402">distance</a>(scratch, temp) > <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a7e3637aef4a7b7980e753d8c8c0ba66f">epsilon_</a> <span class="comment">// exceeds epsilon</span></div>
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> || <a class="code hl_variable" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a84da2ea2a24f81f0c8f0407fe9e4309b">delta_</a> / step < <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a3726eb53cbf41d2f5bf22c4c357a82a4">cos_alpha_</a> <span class="comment">// exceeds angle</span></div>
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span> || !c->inPolytope(u_j)) <span class="comment">// outside polytope</span></div>
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> {</div>
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span> <span class="keywordtype">bool</span> created = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> <span class="keywordflow">if</span> ((c = <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#afb524fb0dc17a128e3662c12690e2292">getChart</a>(scratch, <span class="keyword">true</span>, &created)) == <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span> {</div>
<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Treating singularity as an obstacle."</span>);</div>
<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span> done = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"> 475</span> }</div>
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"> 476</span> chartsCreated += created;</div>
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> </div>
<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span> <span class="comment">// Re-project onto the next chart.</span></div>
<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span> c->psiInverse(*scratch, u_j);</div>
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span> c->psiInverse(*ato, u_b);</div>
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"> 481</span> }</div>
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> </div>
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> done = <a class="code hl_function" href="classompl_1_1base_1_1WrapperStateSpace.html#ada6102cb4e47614f270b160b0ba70402">distance</a>(scratch, to) <= <a class="code hl_variable" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a84da2ea2a24f81f0c8f0407fe9e4309b">delta_</a>;</div>
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> factor = 1;</div>
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"> 485</span> </div>
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> <span class="comment">// Keep the state in a list, if requested.</span></div>
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span> <span class="keywordflow">if</span> (geodesic != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> geodesic->push_back(<a class="code hl_function" href="classompl_1_1base_1_1StateSpace.html#aca89451f148cad4627c3c6887e0186e4">cloneState</a>(scratch));</div>
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> </div>
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> } <span class="keywordflow">while</span> (!done);</div>
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> </div>
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> ret = done && <a class="code hl_function" href="classompl_1_1base_1_1WrapperStateSpace.html#ada6102cb4e47614f270b160b0ba70402">distance</a>(to, scratch) <= <a class="code hl_variable" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a84da2ea2a24f81f0c8f0407fe9e4309b">delta_</a>;</div>
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"> 493</span> <a class="code hl_function" href="classompl_1_1base_1_1WrapperStateSpace.html#a7e23b962c847a2707314bb9d44cd91f7">freeState</a>(scratch);</div>
<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> <a class="code hl_function" href="classompl_1_1base_1_1WrapperStateSpace.html#a7e23b962c847a2707314bb9d44cd91f7">freeState</a>(temp);</div>
<div class="line"><a id="l00495" name="l00495"></a><span class="lineno"> 495</span> </div>
<div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span> <span class="keywordflow">return</span> ret;</div>
<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"> 497</span>}</div>
</div>
<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span> </div>
<div class="foldopen" id="foldopen00499" data-start="{" data-end="}">
<div class="line"><a id="l00499" name="l00499"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a2e5e052e74708d7f703d9e7969935fc9"> 499</a></span><span class="keywordtype">double</span> <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#a2e5e052e74708d7f703d9e7969935fc9">ompl::base::AtlasStateSpace::estimateFrontierPercent</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno"> 500</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> <span class="keywordtype">double</span> frontier = 0;</div>
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span> <span class="keywordflow">for</span> (<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *c : <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a4e2c8b252c89a942dfb7ea2fd3d62836">charts_</a>)</div>
<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"> 503</span> frontier += c->estimateIsFrontier() ? 1 : 0;</div>
<div class="line"><a id="l00504" name="l00504"></a><span class="lineno"> 504</span> </div>
<div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span> <span class="keywordflow">return</span> (100 * frontier) / <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a4e2c8b252c89a942dfb7ea2fd3d62836">charts_</a>.size();</div>
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span>}</div>
</div>
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> </div>
<div class="foldopen" id="foldopen00508" data-start="{" data-end="}">
<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a6ce0a08ccb4c4b7c41eb83db20f98b65"> 508</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1base_1_1AtlasStateSpace.html#a6ce0a08ccb4c4b7c41eb83db20f98b65">ompl::base::AtlasStateSpace::printPLY</a>(std::ostream &out)<span class="keyword"> const</span></div>
<div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> std::stringstream v, f;</div>
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> std::size_t vcount = 0;</div>
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> std::size_t fcount = 0;</div>
<div class="line"><a id="l00513" name="l00513"></a><span class="lineno"> 513</span> std::vector<Eigen::VectorXd> vertices;</div>
<div class="line"><a id="l00514" name="l00514"></a><span class="lineno"> 514</span> <span class="keywordflow">for</span> (<a class="code hl_class" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *c : <a class="code hl_variable" href="classompl_1_1base_1_1AtlasStateSpace.html#a4e2c8b252c89a942dfb7ea2fd3d62836">charts_</a>)</div>
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span> {</div>
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> vertices.clear();</div>
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> c->toPolygon(vertices);</div>
<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"> 518</span> </div>
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> std::stringstream poly;</div>
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> std::size_t fvcount = 0;</div>
<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> <span class="keywordflow">for</span> (Eigen::VectorXd &vert : vertices)</div>
<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span> {</div>
<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"> 523</span> v << vert.transpose() << <span class="stringliteral">"\n"</span>;</div>
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> poly << vcount++ << <span class="stringliteral">" "</span>;</div>
<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"> 525</span> fvcount++;</div>
<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> }</div>
<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span> </div>
<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"> 528</span> <span class="keywordflow">if</span> (fvcount > 2)</div>
<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> {</div>
<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> f << fvcount << <span class="stringliteral">" "</span> << poly.str() << <span class="stringliteral">"\n"</span>;</div>
<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> fcount += 1;</div>
<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> }</div>
<div class="line"><a id="l00533" name="l00533"></a><span class="lineno"> 533</span> }</div>
<div class="line"><a id="l00534" name="l00534"></a><span class="lineno"> 534</span> vertices.clear();</div>
<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"> 535</span> </div>
<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"> 536</span> out << <span class="stringliteral">"ply\n"</span>;</div>
<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"> 537</span> out << <span class="stringliteral">"format ascii 1.0\n"</span>;</div>
<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"> 538</span> out << <span class="stringliteral">"element vertex "</span> << vcount << <span class="stringliteral">"\n"</span>;</div>
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span> out << <span class="stringliteral">"property float x\n"</span>;</div>
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> out << <span class="stringliteral">"property float y\n"</span>;</div>
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> out << <span class="stringliteral">"property float z\n"</span>;</div>
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> out << <span class="stringliteral">"element face "</span> << fcount << <span class="stringliteral">"\n"</span>;</div>
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> out << <span class="stringliteral">"property list uchar int vertex_index\n"</span>;</div>
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> out << <span class="stringliteral">"end_header\n"</span>;</div>
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> out << v.str() << f.str();</div>
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span>}</div>
</div>
<div class="ttc" id="aclassompl_1_1Exception_html"><div class="ttname"><a href="classompl_1_1Exception.html">ompl::Exception</a></div><div class="ttdoc">The exception type for ompl.</div><div class="ttdef"><b>Definition</b> <a href="Exception_8h_source.html#l00046">Exception.h:47</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasChart_html"><div class="ttname"><a href="classompl_1_1base_1_1AtlasChart.html">ompl::base::AtlasChart</a></div><div class="ttdoc">Tangent space and bounding polytope approximating some patch of the manifold.</div><div class="ttdef"><b>Definition</b> <a href="AtlasChart_8h_source.html#l00052">AtlasChart.h:53</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasChart_html_a05629a40e81a141f70084c186d0e8b1e"><div class="ttname"><a href="classompl_1_1base_1_1AtlasChart.html#a05629a40e81a141f70084c186d0e8b1e">ompl::base::AtlasChart::inPolytope</a></div><div class="ttdeci">bool inPolytope(const Eigen::Ref< const Eigen::VectorXd > &u, const Halfspace *ignore1=nullptr, const Halfspace *ignore2=nullptr) const</div><div class="ttdoc">Check if a point u on the chart lies within its polytope boundary. Can ignore up to 2 of the halfspac...</div><div class="ttdef"><b>Definition</b> <a href="AtlasChart_8cpp_source.html#l00240">AtlasChart.cpp:240</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasChart_html_a593871dafb4eded9ba4152375636f6b1"><div class="ttname"><a href="classompl_1_1base_1_1AtlasChart.html#a593871dafb4eded9ba4152375636f6b1">ompl::base::AtlasChart::psi</a></div><div class="ttdeci">bool psi(const Eigen::Ref< const Eigen::VectorXd > &u, Eigen::Ref< Eigen::VectorXd > out) const</div><div class="ttdoc">Exponential mapping. Project chart point u onto the manifold and store the result in out,...</div><div class="ttdef"><b>Definition</b> <a href="AtlasChart_8cpp_source.html#l00192">AtlasChart.cpp:192</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasChart_html_a87c309b951f651df5b9f999c289a6d46"><div class="ttname"><a href="classompl_1_1base_1_1AtlasChart.html#a87c309b951f651df5b9f999c289a6d46">ompl::base::AtlasChart::borderCheck</a></div><div class="ttdeci">void borderCheck(const Eigen::Ref< const Eigen::VectorXd > &v) const</div><div class="ttdoc">Check if chart point v lies very close to any part of the boundary. Wherever it does,...</div><div class="ttdef"><b>Definition</b> <a href="AtlasChart_8cpp_source.html#l00258">AtlasChart.cpp:258</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasChart_html_ac7362faa11728b8b8777ec89bfea64a3"><div class="ttname"><a href="classompl_1_1base_1_1AtlasChart.html#ac7362faa11728b8b8777ec89bfea64a3">ompl::base::AtlasChart::generateHalfspace</a></div><div class="ttdeci">static void generateHalfspace(AtlasChart *c1, AtlasChart *c2)</div><div class="ttdoc">Create two complementary halfspaces dividing the space between charts c1 and c2, and add them to the ...</div><div class="ttdef"><b>Definition</b> <a href="AtlasChart_8cpp_source.html#l00372">AtlasChart.cpp:372</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasChart_html_ac842525b1999a803ca0b6bb395190537"><div class="ttname"><a href="classompl_1_1base_1_1AtlasChart.html#ac842525b1999a803ca0b6bb395190537">ompl::base::AtlasChart::getOrigin</a></div><div class="ttdeci">const AtlasStateSpace::StateType * getOrigin() const</div><div class="ttdoc">Returns phi(0), the center of the chart in ambient space.</div><div class="ttdef"><b>Definition</b> <a href="AtlasChart_8h_source.html#l00164">AtlasChart.h:164</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasChart_html_ad85f550b77dadee97c78cf4fdf90b03f"><div class="ttname"><a href="classompl_1_1base_1_1AtlasChart.html#ad85f550b77dadee97c78cf4fdf90b03f">ompl::base::AtlasChart::psiInverse</a></div><div class="ttdeci">void psiInverse(const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::Ref< Eigen::VectorXd > out) const</div><div class="ttdoc">Logarithmic mapping. Project ambient point x onto the chart and store the result in out,...</div><div class="ttdef"><b>Definition</b> <a href="AtlasChart_8cpp_source.html#l00234">AtlasChart.cpp:234</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSampler_html_acf6b11271ba004cd728c5914999af2c3"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSampler.html#acf6b11271ba004cd728c5914999af2c3">ompl::base::AtlasStateSampler::sampleUniform</a></div><div class="ttdeci">void sampleUniform(State *state) override</div><div class="ttdoc">Sample a state uniformly from the charted regions of the manifold. Return sample in state.</div><div class="ttdef"><b>Definition</b> <a href="#l00051">AtlasStateSpace.cpp:51</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSampler_html_ad1eb7ed1443bbabf3cc1797c2602a2a8"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSampler.html#ad1eb7ed1443bbabf3cc1797c2602a2a8">ompl::base::AtlasStateSampler::sampleGaussian</a></div><div class="ttdeci">void sampleGaussian(State *state, const State *mean, double stdDev) override</div><div class="ttdoc">Sample a state uniformly from a normal distribution with given mean and stdDev. Return sample in stat...</div><div class="ttdef"><b>Definition</b> <a href="#l00150">AtlasStateSpace.cpp:150</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSampler_html_ad8a0fc7824b684b300bdb28dcea6de0d"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSampler.html#ad8a0fc7824b684b300bdb28dcea6de0d">ompl::base::AtlasStateSampler::AtlasStateSampler</a></div><div class="ttdeci">AtlasStateSampler(const AtlasStateSpace *space)</div><div class="ttdoc">AtlasStateSampler.</div><div class="ttdef"><b>Definition</b> <a href="#l00047">AtlasStateSpace.cpp:47</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSampler_html_af5aa235ae4f292ee1c7a4905066cff17"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSampler.html#af5aa235ae4f292ee1c7a4905066cff17">ompl::base::AtlasStateSampler::sampleUniformNear</a></div><div class="ttdeci">void sampleUniformNear(State *state, const State *near, double distance) override</div><div class="ttdoc">Sample a state uniformly from the ball with center near and radius distance. Return sample in state.</div><div class="ttdef"><b>Definition</b> <a href="#l00099">AtlasStateSpace.cpp:99</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_1_1StateType_html"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">ompl::base::AtlasStateSpace::StateType</a></div><div class="ttdoc">A state in an atlas represented as a real vector in ambient space and a chart that it belongs to.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00136">AtlasStateSpace.h:137</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_1_1StateType_html_a9a9384de63fbb2f695c10ff00a660754"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#a9a9384de63fbb2f695c10ff00a660754">ompl::base::AtlasStateSpace::StateType::getChart</a></div><div class="ttdeci">AtlasChart * getChart() const</div><div class="ttdoc">Get the chart this state is on.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00145">AtlasStateSpace.h:145</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_1_1StateType_html_ac757ac98d6c7ffc78b86da02361f93dc"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#ac757ac98d6c7ffc78b86da02361f93dc">ompl::base::AtlasStateSpace::StateType::setChart</a></div><div class="ttdeci">void setChart(AtlasChart *c) const</div><div class="ttdoc">Set the chart c for the state.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00151">AtlasStateSpace.h:151</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html">ompl::base::AtlasStateSpace</a></div><div class="ttdoc">ConstrainedStateSpace encapsulating a planner-agnostic atlas algorithm for planning on a constraint m...</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00128">AtlasStateSpace.h:129</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a11dc065788df57321c9699b56f3265d8"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a11dc065788df57321c9699b56f3265d8">ompl::base::AtlasStateSpace::clear</a></div><div class="ttdeci">void clear() override</div><div class="ttdoc">Reset the space (except for anchor charts).</div><div class="ttdef"><b>Definition</b> <a href="#l00226">AtlasStateSpace.cpp:226</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a1707a7af91a7823f0a555fae71b3c10e"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a1707a7af91a7823f0a555fae71b3c10e">ompl::base::AtlasStateSpace::anchors_</a></div><div class="ttdeci">std::vector< StateType * > anchors_</div><div class="ttdoc">Set of states on which there are anchored charts.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00387">AtlasStateSpace.h:387</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a1d8b2107cb33703c2113844955ff7007"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a1d8b2107cb33703c2113844955ff7007">ompl::base::AtlasStateSpace::~AtlasStateSpace</a></div><div class="ttdeci">~AtlasStateSpace() override</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition</b> <a href="#l00216">AtlasStateSpace.cpp:216</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a29464943c968c35f97761fee60121a5e"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a29464943c968c35f97761fee60121a5e">ompl::base::AtlasStateSpace::maxChartsPerExtension_</a></div><div class="ttdeci">unsigned int maxChartsPerExtension_</div><div class="ttdoc">Maximum number of charts that can be created in one manifold traversal.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00421">AtlasStateSpace.h:421</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a29d7d75c551537d5582440abf3bb36bf"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a29d7d75c551537d5582440abf3bb36bf">ompl::base::AtlasStateSpace::sampleChart</a></div><div class="ttdeci">AtlasChart * sampleChart() const</div><div class="ttdoc">Pick a chart at random.</div><div class="ttdef"><b>Definition</b> <a href="#l00309">AtlasStateSpace.cpp:309</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a2e5e052e74708d7f703d9e7969935fc9"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a2e5e052e74708d7f703d9e7969935fc9">ompl::base::AtlasStateSpace::estimateFrontierPercent</a></div><div class="ttdeci">double estimateFrontierPercent() const</div><div class="ttdoc">Estimate what percentage of atlas charts do not have fully formed polytope boundaries,...</div><div class="ttdef"><b>Definition</b> <a href="#l00499">AtlasStateSpace.cpp:499</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a3726eb53cbf41d2f5bf22c4c357a82a4"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a3726eb53cbf41d2f5bf22c4c357a82a4">ompl::base::AtlasStateSpace::cos_alpha_</a></div><div class="ttdeci">double cos_alpha_</div><div class="ttdoc">Cosine of the maximum angle between a chart and the manifold inside its validity region.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00409">AtlasStateSpace.h:409</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a39f3a4b97f115cbfabf154e29394d104"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a39f3a4b97f115cbfabf154e29394d104">ompl::base::AtlasStateSpace::owningChart</a></div><div class="ttdeci">AtlasChart * owningChart(const StateType *state) const</div><div class="ttdoc">Find the chart to which x belongs. Returns nullptr if no chart found. Assumes x is already on the man...</div><div class="ttdef"><b>Definition</b> <a href="#l00339">AtlasStateSpace.cpp:339</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a4561491fb48347fc1da92d5922e904cc"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a4561491fb48347fc1da92d5922e904cc">ompl::base::AtlasStateSpace::chartPDF_</a></div><div class="ttdeci">PDF< AtlasChart * > chartPDF_</div><div class="ttdoc">PDF of charts according to a bias function.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00393">AtlasStateSpace.h:393</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a4e2c8b252c89a942dfb7ea2fd3d62836"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a4e2c8b252c89a942dfb7ea2fd3d62836">ompl::base::AtlasStateSpace::charts_</a></div><div class="ttdeci">std::vector< AtlasChart * > charts_</div><div class="ttdoc">Set of charts.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00390">AtlasStateSpace.h:390</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a656b759972d7d6442ba9ebc91a0eb043"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a656b759972d7d6442ba9ebc91a0eb043">ompl::base::AtlasStateSpace::copyState</a></div><div class="ttdeci">void copyState(State *destination, const State *source) const override</div><div class="ttdoc">Copy a state to another. The memory of source and destination should NOT overlap.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00182">AtlasStateSpace.h:182</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a6ce0a08ccb4c4b7c41eb83db20f98b65"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a6ce0a08ccb4c4b7c41eb83db20f98b65">ompl::base::AtlasStateSpace::printPLY</a></div><div class="ttdeci">void printPLY(std::ostream &out) const</div><div class="ttdoc">Write a mesh representation of the atlas to a stream.</div><div class="ttdef"><b>Definition</b> <a href="#l00508">AtlasStateSpace.cpp:508</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a794b909f11eaabe07509aad2cf9c29c2"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a794b909f11eaabe07509aad2cf9c29c2">ompl::base::AtlasStateSpace::discreteGeodesic</a></div><div class="ttdeci">bool discreteGeodesic(const State *from, const State *to, bool interpolate=false, std::vector< State * > *geodesic=nullptr) const override</div><div class="ttdoc">Traverse the manifold from from toward to. Returns true if we reached to, and false if we stopped ear...</div><div class="ttdef"><b>Definition</b> <a href="#l00370">AtlasStateSpace.cpp:370</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a7b811b3a8ac551d83063f6d08e5ba5fe"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a7b811b3a8ac551d83063f6d08e5ba5fe">ompl::base::AtlasStateSpace::anchorChart</a></div><div class="ttdeci">AtlasChart * anchorChart(const State *state) const</div><div class="ttdoc">Wrapper for newChart(). Charts created this way will persist through calls to clear().</div><div class="ttdef"><b>Definition</b> <a href="#l00251">AtlasStateSpace.cpp:251</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a7e3637aef4a7b7980e753d8c8c0ba66f"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a7e3637aef4a7b7980e753d8c8c0ba66f">ompl::base::AtlasStateSpace::epsilon_</a></div><div class="ttdeci">double epsilon_</div><div class="ttdoc">Maximum distance between a chart and the manifold inside its validity region.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00403">AtlasStateSpace.h:403</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a7fad144043cebd2fd03151620146203e"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a7fad144043cebd2fd03151620146203e">ompl::base::AtlasStateSpace::rho_s_</a></div><div class="ttdeci">double rho_s_</div><div class="ttdoc">Sampling radius within a chart. Inferred from rho and exploration parameters.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00415">AtlasStateSpace.h:415</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_aa29f947d5b2cce8fccfcd5d22519d2ad"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#aa29f947d5b2cce8fccfcd5d22519d2ad">ompl::base::AtlasStateSpace::backoff_</a></div><div class="ttdeci">double backoff_</div><div class="ttdoc">Step size reduction factor during manifold traversal.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00418">AtlasStateSpace.h:418</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_aa3c31838cee531ba238bfc2033c78afa"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#aa3c31838cee531ba238bfc2033c78afa">ompl::base::AtlasStateSpace::chartNN_</a></div><div class="ttdeci">NearestNeighborsGNAT< NNElement > chartNN_</div><div class="ttdoc">Set of chart centers and indices, accessible by nearest-neighbor queries to the chart centers.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00397">AtlasStateSpace.h:397</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_ab775301c175d22645c5548732ccdaaa5"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#ab775301c175d22645c5548732ccdaaa5">ompl::base::AtlasStateSpace::rng_</a></div><div class="ttdeci">RNG rng_</div><div class="ttdoc">Random number generator.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00432">AtlasStateSpace.h:432</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_ac65baf8bfe82bca037c50d58eac26768"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#ac65baf8bfe82bca037c50d58eac26768">ompl::base::AtlasStateSpace::biasFunction_</a></div><div class="ttdeci">AtlasChartBiasFunction biasFunction_</div><div class="ttdoc">Function to bias chart sampling.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00426">AtlasStateSpace.h:426</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_ac9680d2943d722a9249dcfe9c2d68c95"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#ac9680d2943d722a9249dcfe9c2d68c95">ompl::base::AtlasStateSpace::AtlasStateSpace</a></div><div class="ttdeci">AtlasStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint, bool separate=true)</div><div class="ttdoc">Construct an atlas with the specified dimensions.</div><div class="ttdef"><b>Definition</b> <a href="#l00200">AtlasStateSpace.cpp:200</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_acf67311c4c5c681e99fbf3b21e34bce4"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#acf67311c4c5c681e99fbf3b21e34bce4">ompl::base::AtlasStateSpace::newChart</a></div><div class="ttdeci">AtlasChart * newChart(const StateType *state) const</div><div class="ttdoc">Create a new chart for the atlas, centered at xorigin, which should be on the manifold....</div><div class="ttdef"><b>Definition</b> <a href="#l00265">AtlasStateSpace.cpp:265</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_aec1c3bbc0443fe2f327856770b924268"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#aec1c3bbc0443fe2f327856770b924268">ompl::base::AtlasStateSpace::separate_</a></div><div class="ttdeci">bool separate_</div><div class="ttdoc">Enable or disable halfspace separation of the charts.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00429">AtlasStateSpace.h:429</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_aef8f443a2f089e99ed7dbdc9adf51df0"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#aef8f443a2f089e99ed7dbdc9adf51df0">ompl::base::AtlasStateSpace::rho_</a></div><div class="ttdeci">double rho_</div><div class="ttdoc">Maximum radius of chart validity region.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00406">AtlasStateSpace.h:406</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_af2191d25ff91daf7e707f341fc7cf85e"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#af2191d25ff91daf7e707f341fc7cf85e">ompl::base::AtlasStateSpace::allocState</a></div><div class="ttdeci">State * allocState() const override</div><div class="ttdoc">Allocate a new state in this space.</div><div class="ttdef"><b>Definition</b> <a href="AtlasStateSpace_8h_source.html#l00189">AtlasStateSpace.h:189</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_afb524fb0dc17a128e3662c12690e2292"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#afb524fb0dc17a128e3662c12690e2292">ompl::base::AtlasStateSpace::getChart</a></div><div class="ttdeci">AtlasChart * getChart(const StateType *state, bool force=false, bool *created=nullptr) const</div><div class="ttdoc">Wrapper to return chart state belongs to. Will attempt to initialize new chart if state does not belo...</div><div class="ttdef"><b>Definition</b> <a href="#l00318">AtlasStateSpace.cpp:318</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a50701a7c829dbe5869376ad5eba1f601"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a50701a7c829dbe5869376ad5eba1f601">ompl::base::ConstrainedStateSpace::clear</a></div><div class="ttdeci">virtual void clear()</div><div class="ttdoc">Clear any allocated memory from the state space.</div><div class="ttdef"><b>Definition</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00261">ConstrainedStateSpace.cpp:261</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a6de1afc3140a0df5a8a659ee124883d1"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a6de1afc3140a0df5a8a659ee124883d1">ompl::base::ConstrainedStateSpace::lambda_</a></div><div class="ttdeci">double lambda_</div><div class="ttdoc">Manifold traversal from x to y is stopped if accumulated distance is greater than d(x,...</div><div class="ttdef"><b>Definition</b> <a href="ConstrainedStateSpace_8h_source.html#l00338">ConstrainedStateSpace.h:338</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a76c3278b1b6efdcd588a6609666281db"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a76c3278b1b6efdcd588a6609666281db">ompl::base::ConstrainedStateSpace::interpolate</a></div><div class="ttdeci">void interpolate(const State *from, const State *to, double t, State *state) const override</div><div class="ttdoc">Find a state between from and to around time t, where t = 0 is from, and t = 1 is the final state rea...</div><div class="ttdef"><b>Definition</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00270">ConstrainedStateSpace.cpp:270</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a84da2ea2a24f81f0c8f0407fe9e4309b"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a84da2ea2a24f81f0c8f0407fe9e4309b">ompl::base::ConstrainedStateSpace::delta_</a></div><div class="ttdeci">double delta_</div><div class="ttdoc">Step size when traversing the manifold and collision checking.</div><div class="ttdef"><b>Definition</b> <a href="ConstrainedStateSpace_8h_source.html#l00332">ConstrainedStateSpace.h:332</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a9673ee354444d18a0c32d85f232e8382"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a9673ee354444d18a0c32d85f232e8382">ompl::base::ConstrainedStateSpace::ConstrainedStateSpace</a></div><div class="ttdeci">ConstrainedStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint)</div><div class="ttdoc">Construct a constrained space from an ambientSpace and a constraint.</div><div class="ttdef"><b>Definition</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00102">ConstrainedStateSpace.cpp:102</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_ac26fa6580e0ffaa11c388bd19ba8e135"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#ac26fa6580e0ffaa11c388bd19ba8e135">ompl::base::ConstrainedStateSpace::k_</a></div><div class="ttdeci">const unsigned int k_</div><div class="ttdoc">Manifold dimension.</div><div class="ttdef"><b>Definition</b> <a href="ConstrainedStateSpace_8h_source.html#l00329">ConstrainedStateSpace.h:329</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_ae715b570b104c090708de69d8c5da343"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#ae715b570b104c090708de69d8c5da343">ompl::base::ConstrainedStateSpace::si_</a></div><div class="ttdeci">SpaceInformation * si_</div><div class="ttdoc">SpaceInformation associated with this space. Required for early collision checking in manifold traver...</div><div class="ttdef"><b>Definition</b> <a href="ConstrainedStateSpace_8h_source.html#l00320">ConstrainedStateSpace.h:320</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_aeef3f0a5675e4246ebcddb13a4f2b166"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#aeef3f0a5675e4246ebcddb13a4f2b166">ompl::base::ConstrainedStateSpace::constraint_</a></div><div class="ttdeci">const ConstraintPtr constraint_</div><div class="ttdoc">Constraint function that defines the manifold.</div><div class="ttdef"><b>Definition</b> <a href="ConstrainedStateSpace_8h_source.html#l00323">ConstrainedStateSpace.h:323</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstraintPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1ConstraintPtr.html">ConstraintPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::Constraint.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSampler_html_ade7594512889b577995b3479c71f3b6d"><div class="ttname"><a href="classompl_1_1base_1_1StateSampler.html#ade7594512889b577995b3479c71f3b6d">ompl::base::StateSampler::space_</a></div><div class="ttdeci">const StateSpace * space_</div><div class="ttdoc">The state space this sampler samples.</div><div class="ttdef"><b>Definition</b> <a href="StateSampler_8h_source.html#l00104">StateSampler.h:104</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpacePtr_html"><div class="ttname"><a href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::StateSpace.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_aca89451f148cad4627c3c6887e0186e4"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#aca89451f148cad4627c3c6887e0186e4">ompl::base::StateSpace::cloneState</a></div><div class="ttdeci">State * cloneState(const State *source) const</div><div class="ttdoc">Clone a state.</div><div class="ttdef"><b>Definition</b> <a href="StateSpace_8cpp_source.html#l00226">StateSpace.cpp:226</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html"><div class="ttname"><a href="classompl_1_1base_1_1State.html">ompl::base::State</a></div><div class="ttdoc">Definition of an abstract state.</div><div class="ttdef"><b>Definition</b> <a href="base_2State_8h_source.html#l00049">State.h:50</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html_af1b51b919c418c1625ed42a3c36f2be2"><div class="ttname"><a href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">ompl::base::State::as</a></div><div class="ttdeci">const T * as() const</div><div class="ttdoc">Cast this instance to a desired type.</div><div class="ttdef"><b>Definition</b> <a href="base_2State_8h_source.html#l00066">State.h:66</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1WrapperStateSpace_html_a7e23b962c847a2707314bb9d44cd91f7"><div class="ttname"><a href="classompl_1_1base_1_1WrapperStateSpace.html#a7e23b962c847a2707314bb9d44cd91f7">ompl::base::WrapperStateSpace::freeState</a></div><div class="ttdeci">void freeState(State *state) const override</div><div class="ttdoc">Free the memory of the allocated state.</div><div class="ttdef"><b>Definition</b> <a href="WrapperStateSpace_8h_source.html#l00315">WrapperStateSpace.h:315</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1WrapperStateSpace_html_ada6102cb4e47614f270b160b0ba70402"><div class="ttname"><a href="classompl_1_1base_1_1WrapperStateSpace.html#ada6102cb4e47614f270b160b0ba70402">ompl::base::WrapperStateSpace::distance</a></div><div class="ttdeci">double distance(const State *state1, const State *state2) const override</div><div class="ttdoc">Computes distance between two states. This function satisfies the properties of a metric if isMetricS...</div><div class="ttdef"><b>Definition</b> <a href="WrapperStateSpace_8h_source.html#l00274">WrapperStateSpace.h:274</a></div></div>
<div class="ttc" id="agroup__logging_html_ga05ad3ae88188e7f248748785afd2b882"><div class="ttname"><a href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a></div><div class="ttdeci">#define OMPL_ERROR(fmt,...)</div><div class="ttdoc">Log a formatted error string.</div><div class="ttdef"><b>Definition</b> <a href="Console_8h_source.html#l00064">Console.h:64</a></div></div>
<div class="ttc" id="agroup__logging_html_gab76357dced39cb468d2061d3358f80a6"><div class="ttname"><a href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a></div><div class="ttdeci">#define OMPL_WARN(fmt,...)</div><div class="ttdoc">Log a formatted warning string.</div><div class="ttdef"><b>Definition</b> <a href="Console_8h_source.html#l00066">Console.h:66</a></div></div>
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