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<li class="navelem"><b>ompl</b></li><li class="navelem"><b>multilevel</b></li><li class="navelem"><b>datastructures</b></li><li class="navelem"><b>src</b></li> </ul>
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<div class="headertitle"><div class="title">BundleSpaceGraph.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) 2019, University of Stuttgart</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 University of Stuttgart nor the names</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment"> * of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment"> * derived from this software without specific prior written</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment"> * permission.</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment"> *</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span><span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</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="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="comment"> *********************************************************************/</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> </div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="comment">/* Author: Andreas Orthey */</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include <ompl/multilevel/datastructures/PlannerDataVertexAnnotated.h></span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include <ompl/multilevel/datastructures/BundleSpaceGraph.h></span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include <ompl/multilevel/datastructures/src/BundleSpaceGraphGoalVisitor.hpp></span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include <ompl/multilevel/datastructures/Projection.h></span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#include <ompl/multilevel/datastructures/graphsampler/RandomVertex.h></span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="preprocessor">#include <ompl/multilevel/datastructures/graphsampler/RandomDegreeVertex.h></span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="preprocessor">#include <ompl/multilevel/datastructures/graphsampler/RandomEdge.h></span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="preprocessor">#include <ompl/multilevel/datastructures/importance/Greedy.h></span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="preprocessor">#include <ompl/multilevel/datastructures/importance/Exponential.h></span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="preprocessor">#include <ompl/multilevel/datastructures/importance/Uniform.h></span></div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span><span class="preprocessor">#include <ompl/multilevel/datastructures/metrics/Geodesic.h></span></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="preprocessor">#include <ompl/multilevel/datastructures/propagators/Geometric.h></span></div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="preprocessor">#include <ompl/multilevel/datastructures/pathrestriction/PathRestriction.h></span></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="preprocessor">#include <ompl/geometric/PathSimplifier.h></span></div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span><span class="preprocessor">#include <ompl/base/goals/GoalSampleableRegion.h></span></div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span><span class="preprocessor">#include <ompl/base/objectives/PathLengthOptimizationObjective.h></span></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span><span class="preprocessor">#include <ompl/base/objectives/MaximizeMinClearanceObjective.h></span></div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span><span class="preprocessor">#include <ompl/datastructures/PDF.h></span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span><span class="preprocessor">#include <ompl/tools/config/SelfConfig.h></span></div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span><span class="preprocessor">#include <ompl/tools/config/MagicConstants.h></span></div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span><span class="preprocessor">#include <ompl/util/Exception.h></span></div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span><span class="preprocessor">#include <ompl/control/SpaceInformation.h></span></div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> </div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span><span class="preprocessor">#include <ompl/datastructures/NearestNeighborsSqrtApprox.h></span></div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> </div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span><span class="preprocessor">#include <boost/graph/astar_search.hpp></span></div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span><span class="preprocessor">#include <boost/graph/incremental_components.hpp></span></div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span><span class="preprocessor">#include <boost/graph/graphviz.hpp></span></div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span><span class="preprocessor">#include <boost/property_map/vector_property_map.hpp></span></div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span><span class="preprocessor">#include <boost/property_map/transform_value_property_map.hpp></span></div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> </div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span><span class="preprocessor">#include <boost/foreach.hpp></span></div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> </div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span><span class="preprocessor">#define foreach BOOST_FOREACH</span></div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span><span class="keyword">using </span>Configuration = <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">ompl::multilevel::BundleSpaceGraph::Configuration</a>;</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> </div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span><span class="keyword">using namespace </span><a class="code hl_namespace" href="namespaceompl_1_1multilevel.html">ompl::multilevel</a>;</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>BundleSpaceGraph::BundleSpaceGraph(<span class="keyword">const</span> ompl::base::SpaceInformationPtr &si, <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *parent_) : BaseT(si, parent_)</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span>{</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> setName(<span class="stringliteral">"BundleSpaceGraph"</span>);</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> </div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <span class="comment">// Functional primitives</span></div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> setMetric(<span class="stringliteral">"geodesic"</span>);</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> setGraphSampler(<span class="stringliteral">"randomvertex"</span>);</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> setImportance(<span class="stringliteral">"uniform"</span>);</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> setFindSectionStrategy(FindSectionType::SIDE_STEP);</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> </div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="keywordflow">if</span> (isDynamic())</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> setPropagator(<span class="stringliteral">"dynamic"</span>);</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="keywordflow">else</span></div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> {</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> setPropagator(<span class="stringliteral">"geometric"</span>);</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> }</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> </div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> specs_.recognizedGoal = <a class="code hl_enumvalue" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9">base::GOAL_SAMPLEABLE_REGION</a>;</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> specs_.approximateSolutions = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> specs_.optimizingPaths = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> </div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> Planner::declareParam<double>(<span class="stringliteral">"range"</span>, <span class="keyword">this</span>, &BundleSpaceGraph::setRange, &BundleSpaceGraph::getRange,</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="stringliteral">"0.:1.:"</span></div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="stringliteral">"10000."</span>);</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> </div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> Planner::declareParam<double>(<span class="stringliteral">"goal_bias"</span>, <span class="keyword">this</span>, &BundleSpaceGraph::setGoalBias, &BundleSpaceGraph::getGoalBias,</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="stringliteral">"0.:.1:1."</span>);</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> xRandom_ = <span class="keyword">new</span> Configuration(getBundle());</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</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>BundleSpaceGraph::~BundleSpaceGraph()</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span>{</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> deleteConfiguration(<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4be6d823b2f6505f431f81371da21b71">xRandom_</a>);</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span>}</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
<div class="foldopen" id="foldopen00117" data-start="{" data-end="}">
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aea0627bc0ebdff95891bb194b0dd0bd4"> 117</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aea0627bc0ebdff95891bb194b0dd0bd4">BundleSpaceGraph::setup</a>()</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span>{</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a37874b2ca0ca976b61da46c8e0f47e44">BaseT::setup</a>();</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> </div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <a class="code hl_class" href="classompl_1_1tools_1_1SelfConfig.html">ompl::tools::SelfConfig</a> sc(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>(), <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>());</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> sc.<a class="code hl_function" href="classompl_1_1tools_1_1SelfConfig.html#a65bff53ea4bc6f158342a856175ab9a6">configurePlannerRange</a>(<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">maxDistance_</a>);</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> </div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <a class="code hl_define" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Range distance graph sampling: %f (max extent %f)"</span>, <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">maxDistance_</a>, <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->getMaximumExtent());</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> </div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>)</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> {</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordflow">if</span> (!isDynamic())</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> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>.reset(<a class="code hl_function" href="classompl_1_1tools_1_1SelfConfig.html#a23f1fef30af80542eeb4709465a06148">tools::SelfConfig::getDefaultNearestNeighbors<Configuration *></a>(<span class="keyword">this</span>));</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="keywordflow">else</span></div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> {</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="comment">// for dynamical systems, we use a quasimetric</span></div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="comment">//(non-symmetric metric), so we cannot use NN structures like GNAT</span></div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>.reset(<span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1NearestNeighborsSqrtApprox.html">NearestNeighborsSqrtApprox<Configuration *></a>());</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> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>->setDistanceFunction([<span class="keyword">this</span>](<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *a, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *b)</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> { <span class="keywordflow">return</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aabdbde642d2e9c07bd5abbaaa09d6058">distance</a>(a, b); });</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> </div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#aaa343d7c86e2debc5cad8ba3e4936587">hasBaseSpace</a>() && <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">getProjection</a>()->isFibered())</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> {</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a12496e82768deed7d92ab381215f17f7">pathRestriction_</a> = std::make_shared<PathRestriction>(<span class="keyword">this</span>);</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> }</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> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>)</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> {</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#adba44a4ee27079c5b258a2ebed719eed">setup_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> </div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac873a6ed1b139ec1924367e6a1664eea">optimizer_</a> = std::make_shared<ompl::geometric::PathSimplifier>(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>(), <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->getGoal(),</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> getOptimizationObjectivePtr());</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac873a6ed1b139ec1924367e6a1664eea">optimizer_</a>->freeStates(<span class="keyword">false</span>);</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="keywordflow">else</span></div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> {</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#adba44a4ee27079c5b258a2ebed719eed">setup_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> }</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span>}</div>
</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><span class="keywordtype">void</span> BundleSpaceGraph::setFindSectionStrategy(FindSectionType type)</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span>{</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a12496e82768deed7d92ab381215f17f7">pathRestriction_</a> != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> {</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a12496e82768deed7d92ab381215f17f7">pathRestriction_</a>->setFindSectionStrategy(type);</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>}</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> </div>
<div class="foldopen" id="foldopen00169" data-start="{" data-end="}">
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#acea8da5111cfdeeb3e22abbd2e739bb8"> 169</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#acea8da5111cfdeeb3e22abbd2e739bb8">BundleSpaceGraph::findSection</a>()</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span>{</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#aaa343d7c86e2debc5cad8ba3e4936587">hasBaseSpace</a>() && <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">getProjection</a>()->isFibered())</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> {</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> base::PathPtr basePath = <span class="keyword">static_cast<</span>BundleSpaceGraph *<span class="keyword">></span>(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a84a9b3481d9f8a285f932d4e7fbb97a5">getChild</a>())->getSolutionPathByReference();</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a12496e82768deed7d92ab381215f17f7">pathRestriction_</a>->setBasePath(basePath);</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> </div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a12496e82768deed7d92ab381215f17f7">pathRestriction_</a>->hasFeasibleSection(<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ad31a65e949a577f98d7ca68edb6a2016">qStart_</a>, <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a479b71d3dbd5b64fe6d01f7bfd4960cd">qGoal_</a>))</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> (sameComponent(vStart_, <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a479b71d3dbd5b64fe6d01f7bfd4960cd">qGoal_</a>->index))</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_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a5ea7396973afee88972122c4afabac6b">hasSolution_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> }</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> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span>}</div>
</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> </div>
<div class="foldopen" id="foldopen00188" data-start="{" data-end="}">
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a28fa657a77354663740fc808ce370a45"> 188</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a28fa657a77354663740fc808ce370a45">BundleSpaceGraph::clear</a>()</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span>{</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a17bc273d461af6a05f9f5716dba47c24">BaseT::clear</a>();</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> </div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> clearVertices();</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.restart();</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> </div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aeb851be0a372c930fcb4e49cc3b7c63a">graphLength_</a> = 0;</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a6137b49fdfdd7b1fa78c4062f5134779">bestCost_</a> = <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(base::dInf);</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#adba44a4ee27079c5b258a2ebed719eed">setup_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> vStart_ = 0;</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> shortestVertexPath_.clear();</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> </div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a72948dc2cf1723e52cc691c2ef7a3119">startConfigurations_</a>.clear();</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">goalConfigurations_</a>.clear();</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> </div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordflow">if</span> (!isDynamic())</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> <span class="keywordflow">if</span> (solutionPath_ != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> {</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> std::static_pointer_cast<geometric::PathGeometric>(solutionPath_)->clear();</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> }</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> numVerticesWhenComputingSolutionPath_ = 0;</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> </div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0ff33279b454b1b78eb68f136b8d4b63">importanceCalculator_</a>->clear();</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0d9698226aaed8c3b3224da08820a30e">graphSampler_</a>->clear();</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a12496e82768deed7d92ab381215f17f7">pathRestriction_</a> != <span class="keyword">nullptr</span>)</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> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a12496e82768deed7d92ab381215f17f7">pathRestriction_</a>->clear();</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> }</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span>}</div>
</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><span class="keywordtype">void</span> BundleSpaceGraph::clearVertices()</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span>{</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>)</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> {</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> std::vector<Configuration *> configs;</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>->list(configs);</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &config : configs)</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> {</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> deleteConfiguration(config);</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> }</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>->clear();</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> }</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> graph_.clear();</div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span>}</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="keywordtype">void</span> BundleSpaceGraph::setGoalBias(<span class="keywordtype">double</span> goalBias)</div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span>{</div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4df8b0de73fc4288c525d83eae82c03b">goalBias_</a> = goalBias;</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> </div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span><span class="keywordtype">double</span> BundleSpaceGraph::getGoalBias()<span class="keyword"> const</span></div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4df8b0de73fc4288c525d83eae82c03b">goalBias_</a>;</div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span>}</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> </div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span><span class="keywordtype">void</span> BundleSpaceGraph::setRange(<span class="keywordtype">double</span> maxDistance)</div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span>{</div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">maxDistance_</a> = maxDistance;</div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span>}</div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> </div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span><span class="keywordtype">double</span> BundleSpaceGraph::getRange()<span class="keyword"> const</span></div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">maxDistance_</a>;</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> </div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span>BundleSpaceGraph::Configuration::Configuration(<span class="keyword">const</span> ompl::base::SpaceInformationPtr &si) : state(si->allocState())</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span>{</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span>}</div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span>BundleSpaceGraph::Configuration::Configuration(<span class="keyword">const</span> ompl::base::SpaceInformationPtr &si,</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> <span class="keyword">const</span> ompl::base::State *state_)</div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> : state(si->cloneState(state_))</div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span>{</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span>}</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> </div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span><span class="keywordtype">void</span> BundleSpaceGraph::deleteConfiguration(Configuration *q)</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span>{</div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keywordflow">if</span> (q != <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">if</span> (q->state != <span class="keyword">nullptr</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> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->freeState(q->state);</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> }</div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < q->reachableSet.size(); k++)</div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> {</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *qk = q->reachableSet.at(k);</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <span class="keywordflow">if</span> (qk->state != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> {</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->freeState(qk->state);</div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> }</div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> }</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> <span class="keywordflow">if</span> (isDynamic())</div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> {</div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> <span class="keyword">const</span> ompl::control::SpaceInformationPtr siC =</div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> std::static_pointer_cast<ompl::control::SpaceInformation>(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>());</div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> siC->freeControl(q->control);</div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> }</div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> q->reachableSet.clear();</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> <span class="keyword">delete</span> q;</div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> q = <span class="keyword">nullptr</span>;</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>}</div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> </div>
<div class="foldopen" id="foldopen00295" data-start="{" data-end="}">
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a508896ae80998fd7d6d55e35ed6a5bf2"> 295</a></span><span class="keywordtype">double</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a508896ae80998fd7d6d55e35ed6a5bf2">BundleSpaceGraph::getImportance</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0ff33279b454b1b78eb68f136b8d4b63">importanceCalculator_</a>->eval();</div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span>}</div>
</div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> </div>
<div class="foldopen" id="foldopen00300" data-start="{" data-end="}">
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a64c5ecaccc7e38fbc0e80deabafb7e82"> 300</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a64c5ecaccc7e38fbc0e80deabafb7e82">BundleSpaceGraph::init</a>()</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> <span class="keywordflow">if</span> (<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">base::State</a> *state = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.nextStart())</div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> {</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ad31a65e949a577f98d7ca68edb6a2016">qStart_</a> = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a>(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>(), state);</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> vStart_ = <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2e30391590cc20b303bf132a94f414e5">addConfiguration</a>(<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ad31a65e949a577f98d7ca68edb6a2016">qStart_</a>);</div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ad31a65e949a577f98d7ca68edb6a2016">qStart_</a>->isStart = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> }</div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> </div>
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ad31a65e949a577f98d7ca68edb6a2016">qStart_</a> == <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> {</div>
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: There are no valid initial states!"</span>, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</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">"Invalid initial states."</span>);</div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</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">if</span> (<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">base::State</a> *state = <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.nextGoal())</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> {</div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a479b71d3dbd5b64fe6d01f7bfd4960cd">qGoal_</a> = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a>(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>(), state);</div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a479b71d3dbd5b64fe6d01f7bfd4960cd">qGoal_</a>->isGoal = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> }</div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> </div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a479b71d3dbd5b64fe6d01f7bfd4960cd">qGoal_</a> == <span class="keyword">nullptr</span> && getGoalPtr()->canSample())</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> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: There are no valid goal states!"</span>, <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <span class="keywordflow">throw</span> <a class="code hl_class" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"Invalid goal states."</span>);</div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> }</div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span>}</div>
</div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> </div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span><span class="keywordtype">void</span> BundleSpaceGraph::uniteComponents(Vertex m1, Vertex m2)</div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span>{</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> disjointSets_.union_set(m1, m2);</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> </div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span><span class="keywordtype">bool</span> BundleSpaceGraph::sameComponent(Vertex m1, Vertex m2)</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> <span class="keywordflow">return</span> boost::same_component(m1, m2, disjointSets_);</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span>}</div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> </div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span><span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">BundleSpaceGraph::Configuration</a> *BundleSpaceGraph::nearest(<span class="keyword">const</span> Configuration *q)<span class="keyword"> const</span></div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>->nearest(<span class="keyword">const_cast<</span>Configuration *<span class="keyword">></span>(q));</div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span>}</div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> </div>
<div class="foldopen" id="foldopen00343" data-start="{" data-end="}">
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a960aec96f564afb73a395cd4e7bbb747"> 343</a></span><a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">BundleSpaceGraph::Configuration</a> *<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a960aec96f564afb73a395cd4e7bbb747">BundleSpaceGraph::addBundleConfiguration</a>(<a class="code hl_class" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *state)</div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span>{</div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *x = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a>(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>(), state);</div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2e30391590cc20b303bf132a94f414e5">addConfiguration</a>(x);</div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keywordflow">return</span> x;</div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span>}</div>
</div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> </div>
<div class="foldopen" id="foldopen00350" data-start="{" data-end="}">
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aa9a011d8547380113d1fb2c2b414489d"> 350</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aa9a011d8547380113d1fb2c2b414489d">BundleSpaceGraph::addBundleEdge</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *a, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *b)</div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span>{</div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a55c5d6431a21d6c8b772b81cdc8a67fa">addEdge</a>(a->index, b->index);</div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span>}</div>
</div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> </div>
<div class="foldopen" id="foldopen00355" data-start="{" data-end="}">
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2e30391590cc20b303bf132a94f414e5"> 355</a></span>BundleSpaceGraph::Vertex <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2e30391590cc20b303bf132a94f414e5">BundleSpaceGraph::addConfiguration</a>(<a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *q)</div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span>{</div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> Vertex m = boost::add_vertex(q, graph_);</div>
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> graph_[m]->total_connection_attempts = 1;</div>
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> graph_[m]->successful_connection_attempts = 0;</div>
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> disjointSets_.make_set(m);</div>
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> </div>
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>->add(q);</div>
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> q-><a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a21747759c6e5715675df75abd5decaa2">index</a> = m;</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> <span class="keywordflow">return</span> m;</div>
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span>}</div>
</div>
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> </div>
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> BundleSpaceGraph::getNumberOfVertices()<span class="keyword"> const</span></div>
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> <span class="keywordflow">return</span> num_vertices(graph_);</div>
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span>}</div>
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> </div>
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> BundleSpaceGraph::getNumberOfEdges()<span class="keyword"> const</span></div>
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> <span class="keywordflow">return</span> num_edges(graph_);</div>
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span>}</div>
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> </div>
<div class="foldopen" id="foldopen00378" data-start="{" data-end="}">
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#abc285cc6e0ec45d14b382fd1f024c0e6"> 378</a></span><span class="keyword">const</span> <a class="code hl_typedef" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#af22f93ab21aec24866a95c38e485467d">BundleSpaceGraph::Graph</a> &<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#abc285cc6e0ec45d14b382fd1f024c0e6">BundleSpaceGraph::getGraph</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> <span class="keywordflow">return</span> graph_;</div>
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span>}</div>
</div>
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> </div>
<div class="foldopen" id="foldopen00383" data-start="{" data-end="}">
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a9d6d602ce41aad13816d921f614f475b"> 383</a></span><a class="code hl_typedef" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#af22f93ab21aec24866a95c38e485467d">BundleSpaceGraph::Graph</a> &<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a9d6d602ce41aad13816d921f614f475b">BundleSpaceGraph::getGraphNonConst</a>()</div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span>{</div>
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> <span class="keywordflow">return</span> graph_;</div>
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span>}</div>
</div>
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> </div>
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span><span class="keyword">const</span> BundleSpaceGraph::RoadmapNeighborsPtr &BundleSpaceGraph::getRoadmapNeighborsPtr()<span class="keyword"> const</span></div>
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>;</div>
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span>}</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><a class="code hl_class" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> BundleSpaceGraph::costHeuristic(Vertex u, Vertex v)<span class="keyword"> const</span></div>
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> <span class="keywordflow">return</span> getOptimizationObjectivePtr()->motionCostHeuristic(graph_[u]->state, graph_[v]->state);</div>
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span>}</div>
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> </div>
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span><span class="keyword">template</span> <<span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keyword">class </span>NN></div>
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span><span class="keywordtype">void</span> BundleSpaceGraph::setNearestNeighbors()</div>
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span>{</div>
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a> && <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>->size() == 0)</div>
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"Calling setNearestNeighbors will clear all states."</span>);</div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a28fa657a77354663740fc808ce370a45">clear</a>();</div>
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a> = std::make_shared<NN<base::State *>>();</div>
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> <span class="keywordflow">if</span> (!<a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a00d2469147e0a4f38cee18c97f19dbfc">isSetup</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> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aea0627bc0ebdff95891bb194b0dd0bd4">setup</a>();</div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> }</div>
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span>}</div>
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> </div>
<div class="foldopen" id="foldopen00411" data-start="{" data-end="}">
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aabdbde642d2e9c07bd5abbaaa09d6058"> 411</a></span><span class="keywordtype">double</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aabdbde642d2e9c07bd5abbaaa09d6058">BundleSpaceGraph::distance</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *a, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *b)<span class="keyword"> const</span></div>
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a7925713a683b52c73e9e1a7fe759afe2">metric_</a>->distanceBundle(a, b);</div>
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span>}</div>
</div>
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> </div>
<div class="foldopen" id="foldopen00416" data-start="{" data-end="}">
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aac5d62baa6a151b402c363487623a2f9"> 416</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aac5d62baa6a151b402c363487623a2f9">BundleSpaceGraph::checkMotion</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *a, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *b)<span class="keyword"> const</span></div>
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> <span class="keywordflow">return</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->checkMotion(a->state, b->state);</div>
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span>}</div>
</div>
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> </div>
<div class="foldopen" id="foldopen00421" data-start="{" data-end="}">
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a88dbfeb26a7eaf4116cf50b6e4c87727"> 421</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a88dbfeb26a7eaf4116cf50b6e4c87727">BundleSpaceGraph::interpolate</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *a, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *b, <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *dest)<span class="keyword"> const</span></div>
<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"> 422</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a7925713a683b52c73e9e1a7fe759afe2">metric_</a>->interpolateBundle(a, b, dest);</div>
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span>}</div>
</div>
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> </div>
<div class="foldopen" id="foldopen00426" data-start="{" data-end="}">
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5d867386251dcea98f1ebd941f7be7dd"> 426</a></span><a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5d867386251dcea98f1ebd941f7be7dd">BundleSpaceGraph::steerTowards</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *from, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *to)</div>
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span>{</div>
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *next = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a>(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>(), to->state);</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> <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a22850e71cfbbb5ce900ab21b74d25921">propagator_</a>->steer(from, to, next))</div>
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> {</div>
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> deleteConfiguration(next);</div>
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div>
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> }</div>
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> <span class="keywordflow">return</span> next;</div>
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span>}</div>
</div>
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> </div>
<div class="foldopen" id="foldopen00438" data-start="{" data-end="}">
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a50904fba20f43ac7bc233f3ffde8eb16"> 438</a></span><a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a50904fba20f43ac7bc233f3ffde8eb16">BundleSpaceGraph::steerTowards_Range</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *from, <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *to)</div>
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span>{</div>
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span> <span class="keywordtype">double</span> d = <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aabdbde642d2e9c07bd5abbaaa09d6058">distance</a>(from, to);</div>
<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> <span class="keywordflow">if</span> (d > <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">maxDistance_</a>)</div>
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> {</div>
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a7925713a683b52c73e9e1a7fe759afe2">metric_</a>->interpolateBundle(from, to, <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">maxDistance_</a> / d, to);</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> <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a22850e71cfbbb5ce900ab21b74d25921">propagator_</a>->steer(from, to, to))</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="keywordflow">return</span> <span class="keyword">nullptr</span>;</div>
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> }</div>
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *next = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a>(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>(), to->state);</div>
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> <span class="keywordflow">return</span> next;</div>
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span>}</div>
</div>
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> </div>
<div class="foldopen" id="foldopen00454" data-start="{" data-end="}">
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a184184689569610b0976bca91a5ef09e"> 454</a></span><a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a184184689569610b0976bca91a5ef09e">BundleSpaceGraph::extendGraphTowards_Range</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *from, <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *to)</div>
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span>{</div>
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span> <span class="keywordflow">if</span> (!isDynamic())</div>
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> {</div>
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> <span class="keywordtype">double</span> d = <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aabdbde642d2e9c07bd5abbaaa09d6058">distance</a>(from, to);</div>
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> <span class="keywordflow">if</span> (d > <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">maxDistance_</a>)</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> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a7925713a683b52c73e9e1a7fe759afe2">metric_</a>->interpolateBundle(from, to, <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">maxDistance_</a> / d, to);</div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> }</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> </div>
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a22850e71cfbbb5ce900ab21b74d25921">propagator_</a>->steer(from, to, to))</div>
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> {</div>
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span> <span class="keywordflow">return</span> <span class="keyword">nullptr</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> </div>
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *next = <span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a>(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>(), to->state);</div>
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2e30391590cc20b303bf132a94f414e5">addConfiguration</a>(next);</div>
<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aa9a011d8547380113d1fb2c2b414489d">addBundleEdge</a>(from, next);</div>
<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span> <span class="keywordflow">return</span> next;</div>
<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span>}</div>
</div>
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"> 475</span> </div>
<div class="foldopen" id="foldopen00476" data-start="{" data-end="}">
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a04603eff11e06b615d7ece0e1f02fad9"> 476</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a04603eff11e06b615d7ece0e1f02fad9">BundleSpaceGraph::connect</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *from, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *to)</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="keywordflow">if</span> (!<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a22850e71cfbbb5ce900ab21b74d25921">propagator_</a>->steer(from, to, <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4be6d823b2f6505f431f81371da21b71">xRandom_</a>))</div>
<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span> {</div>
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</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> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aa9a011d8547380113d1fb2c2b414489d">addBundleEdge</a>(from, to);</div>
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"> 485</span>}</div>
</div>
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> </div>
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span><span class="keywordtype">void</span> BundleSpaceGraph::setPropagator(<span class="keyword">const</span> std::string &sPropagator)</div>
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span>{</div>
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> <span class="keywordflow">if</span> (sPropagator == <span class="stringliteral">"geometric"</span>)</div>
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> {</div>
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> <a class="code hl_define" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Geometric Propagator Selected"</span>);</div>
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a22850e71cfbbb5ce900ab21b74d25921">propagator_</a> = std::make_shared<BundleSpacePropagatorGeometric>(<span class="keyword">this</span>);</div>
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"> 493</span> }</div>
<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> <span class="keywordflow">else</span></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> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Propagator unknown: %s"</span>, sPropagator.c_str());</div>
<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"> 497</span> <span class="keywordflow">throw</span> <a class="code hl_class" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"Unknown Propagator"</span>);</div>
<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span> }</div>
<div class="line"><a id="l00499" name="l00499"></a><span class="lineno"> 499</span>}</div>
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno"> 500</span> </div>
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span><span class="keywordtype">void</span> BundleSpaceGraph::setMetric(<span class="keyword">const</span> std::string &sMetric)</div>
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span>{</div>
<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"> 503</span> <span class="keywordflow">if</span> (sMetric == <span class="stringliteral">"geodesic"</span>)</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> <a class="code hl_define" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Geodesic Metric Selected"</span>);</div>
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a7925713a683b52c73e9e1a7fe759afe2">metric_</a> = std::make_shared<BundleSpaceMetricGeodesic>(<span class="keyword">this</span>);</div>
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> }</div>
<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span> {</div>
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Metric unknown: %s"</span>, sMetric.c_str());</div>
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> <span class="keywordflow">throw</span> ompl::Exception(<span class="stringliteral">"Unknown Metric"</span>);</div>
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> }</div>
<div class="line"><a id="l00513" name="l00513"></a><span class="lineno"> 513</span>}</div>
<div class="line"><a id="l00514" name="l00514"></a><span class="lineno"> 514</span> </div>
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span><span class="keywordtype">void</span> BundleSpaceGraph::setImportance(<span class="keyword">const</span> std::string &sImportance)</div>
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span>{</div>
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> <span class="keywordflow">if</span> (sImportance == <span class="stringliteral">"uniform"</span>)</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> <a class="code hl_define" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Uniform Importance Selected"</span>);</div>
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0ff33279b454b1b78eb68f136b8d4b63">importanceCalculator_</a> = std::make_shared<BundleSpaceImportanceUniform>(<span class="keyword">this</span>);</div>
<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> }</div>
<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sImportance == <span class="stringliteral">"greedy"</span>)</div>
<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"> 523</span> {</div>
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> <a class="code hl_define" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Greedy Importance Selected"</span>);</div>
<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"> 525</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0ff33279b454b1b78eb68f136b8d4b63">importanceCalculator_</a> = std::make_shared<BundleSpaceImportanceGreedy>(<span class="keyword">this</span>);</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> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sImportance == <span class="stringliteral">"exponential"</span>)</div>
<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"> 528</span> {</div>
<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> <a class="code hl_define" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Greedy Importance Selected"</span>);</div>
<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0ff33279b454b1b78eb68f136b8d4b63">importanceCalculator_</a> = std::make_shared<BundleSpaceImportanceExponential>(<span class="keyword">this</span>);</div>
<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> }</div>
<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> <span class="keywordflow">else</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> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Importance calculator unknown: %s"</span>, sImportance.c_str());</div>
<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"> 535</span> <span class="keywordflow">throw</span> ompl::Exception(<span class="stringliteral">"Unknown Importance"</span>);</div>
<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"> 536</span> }</div>
<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"> 537</span>}</div>
<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"> 538</span> </div>
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span><span class="keywordtype">void</span> BundleSpaceGraph::setGraphSampler(<span class="keyword">const</span> std::string &sGraphSampler)</div>
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span>{</div>
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> <span class="keywordflow">if</span> (sGraphSampler == <span class="stringliteral">"randomvertex"</span>)</div>
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> {</div>
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> <a class="code hl_define" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Random Vertex Sampler Selected"</span>);</div>
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0d9698226aaed8c3b3224da08820a30e">graphSampler_</a> = std::make_shared<BundleSpaceGraphSamplerRandomVertex>(<span class="keyword">this</span>);</div>
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> }</div>
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sGraphSampler == <span class="stringliteral">"randomedge"</span>)</div>
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> {</div>
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> <a class="code hl_define" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Random Edge Sampler Selected"</span>);</div>
<div class="line"><a id="l00549" name="l00549"></a><span class="lineno"> 549</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0d9698226aaed8c3b3224da08820a30e">graphSampler_</a> = std::make_shared<BundleSpaceGraphSamplerRandomEdge>(<span class="keyword">this</span>);</div>
<div class="line"><a id="l00550" name="l00550"></a><span class="lineno"> 550</span> }</div>
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sGraphSampler == <span class="stringliteral">"randomdegreevertex"</span>)</div>
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> {</div>
<div class="line"><a id="l00553" name="l00553"></a><span class="lineno"> 553</span> <a class="code hl_define" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Random Degree Vertex Sampler Selected"</span>);</div>
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"> 554</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0d9698226aaed8c3b3224da08820a30e">graphSampler_</a> = std::make_shared<BundleSpaceGraphSamplerRandomDegreeVertex>(<span class="keyword">this</span>);</div>
<div class="line"><a id="l00555" name="l00555"></a><span class="lineno"> 555</span> }</div>
<div class="line"><a id="l00556" name="l00556"></a><span class="lineno"> 556</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span> {</div>
<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"> 558</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Sampler unknown: %s"</span>, sGraphSampler.c_str());</div>
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> <span class="keywordflow">throw</span> ompl::Exception(<span class="stringliteral">"Unknown Graph Sampler"</span>);</div>
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span> }</div>
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span>}</div>
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> </div>
<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span>BundleSpaceGraphSamplerPtr BundleSpaceGraph::getGraphSampler()</div>
<div class="line"><a id="l00564" name="l00564"></a><span class="lineno"> 564</span>{</div>
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"> 565</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0d9698226aaed8c3b3224da08820a30e">graphSampler_</a>;</div>
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span>}</div>
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> </div>
<div class="foldopen" id="foldopen00568" data-start="{" data-end="}">
<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a55c5d6431a21d6c8b772b81cdc8a67fa"> 568</a></span><span class="keyword">const</span> std::pair<BundleSpaceGraph::Edge, bool> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a55c5d6431a21d6c8b772b81cdc8a67fa">BundleSpaceGraph::addEdge</a>(<span class="keyword">const</span> Vertex a, <span class="keyword">const</span> Vertex b)</div>
<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span>{</div>
<div class="line"><a id="l00570" name="l00570"></a><span class="lineno"> 570</span> <a class="code hl_class" href="classompl_1_1base_1_1Cost.html">base::Cost</a> weight = getOptimizationObjectivePtr()->motionCost(graph_[a]->state, graph_[b]->state);</div>
<div class="line"><a id="l00571" name="l00571"></a><span class="lineno"> 571</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1EdgeInternalState.html">EdgeInternalState</a> properties(weight);</div>
<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span> <span class="keyword">const</span> std::pair<Edge, bool> e = boost::add_edge(a, b, properties, graph_);</div>
<div class="line"><a id="l00573" name="l00573"></a><span class="lineno"> 573</span> uniteComponents(a, b);</div>
<div class="line"><a id="l00574" name="l00574"></a><span class="lineno"> 574</span> <span class="keywordflow">return</span> e;</div>
<div class="line"><a id="l00575" name="l00575"></a><span class="lineno"> 575</span>}</div>
</div>
<div class="line"><a id="l00576" name="l00576"></a><span class="lineno"> 576</span> </div>
<div class="foldopen" id="foldopen00577" data-start="{" data-end="}">
<div class="line"><a id="l00577" name="l00577"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a86e04bdab5ff70826b5926c554de0b97"> 577</a></span>BundleSpaceGraph::Vertex <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a86e04bdab5ff70826b5926c554de0b97">BundleSpaceGraph::getStartIndex</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00578" name="l00578"></a><span class="lineno"> 578</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"> 579</span> <span class="keywordflow">return</span> vStart_;</div>
<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span>}</div>
</div>
<div class="line"><a id="l00581" name="l00581"></a><span class="lineno"> 581</span> </div>
<div class="foldopen" id="foldopen00582" data-start="{" data-end="}">
<div class="line"><a id="l00582" name="l00582"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac55d7bd5c6a1ff55ed26df900d6aea16"> 582</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac55d7bd5c6a1ff55ed26df900d6aea16">BundleSpaceGraph::addGoalConfiguration</a>(<a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *x)</div>
<div class="line"><a id="l00583" name="l00583"></a><span class="lineno"> 583</span>{</div>
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"> 584</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">goalConfigurations_</a>.push_back(x);</div>
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> <span class="keywordflow">if</span> (getOptimizationObjectivePtr()->isCostBetterThan(x->cost, <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a6137b49fdfdd7b1fa78c4062f5134779">bestCost_</a>))</div>
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> {</div>
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno"> 587</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a6137b49fdfdd7b1fa78c4062f5134779">bestCost_</a> = x->cost;</div>
<div class="line"><a id="l00588" name="l00588"></a><span class="lineno"> 588</span> }</div>
<div class="line"><a id="l00589" name="l00589"></a><span class="lineno"> 589</span>}</div>
</div>
<div class="line"><a id="l00590" name="l00590"></a><span class="lineno"> 590</span> </div>
<div class="foldopen" id="foldopen00591" data-start="{" data-end="}">
<div class="line"><a id="l00591" name="l00591"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#af899f7a961475698d38406d09e9f7765"> 591</a></span>BundleSpaceGraph::Vertex <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#af899f7a961475698d38406d09e9f7765">BundleSpaceGraph::getGoalIndex</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00592" name="l00592"></a><span class="lineno"> 592</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00593" name="l00593"></a><span class="lineno"> 593</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">goalConfigurations_</a>.size() > 0)</div>
<div class="line"><a id="l00594" name="l00594"></a><span class="lineno"> 594</span> {</div>
<div class="line"><a id="l00595" name="l00595"></a><span class="lineno"> 595</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">goalConfigurations_</a>.front()->index;</div>
<div class="line"><a id="l00596" name="l00596"></a><span class="lineno"> 596</span> }</div>
<div class="line"><a id="l00597" name="l00597"></a><span class="lineno"> 597</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00598" name="l00598"></a><span class="lineno"> 598</span> {</div>
<div class="line"><a id="l00599" name="l00599"></a><span class="lineno"> 599</span> OMPL_DEVMSG1(<span class="stringliteral">"Returned NullVertex"</span>);</div>
<div class="line"><a id="l00600" name="l00600"></a><span class="lineno"> 600</span> <span class="keywordflow">return</span> nullVertex();</div>
<div class="line"><a id="l00601" name="l00601"></a><span class="lineno"> 601</span> }</div>
<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"> 602</span>}</div>
</div>
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"> 603</span> </div>
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span>BundleSpaceGraph::Vertex BundleSpaceGraph::nullVertex()<span class="keyword"> const</span></div>
<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> <span class="keywordflow">return</span> BGT::null_vertex();</div>
<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span>}</div>
<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> </div>
<div class="foldopen" id="foldopen00609" data-start="{" data-end="}">
<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5d797eae0df850b19da56dde23c7b76a"> 609</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5d797eae0df850b19da56dde23c7b76a">BundleSpaceGraph::setStartIndex</a>(Vertex idx)</div>
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span>{</div>
<div class="line"><a id="l00611" name="l00611"></a><span class="lineno"> 611</span> vStart_ = idx;</div>
<div class="line"><a id="l00612" name="l00612"></a><span class="lineno"> 612</span>}</div>
</div>
<div class="line"><a id="l00613" name="l00613"></a><span class="lineno"> 613</span> </div>
<div class="line"><a id="l00614" name="l00614"></a><span class="lineno"> 614</span>ompl::base::PathPtr &BundleSpaceGraph::getSolutionPathByReference()</div>
<div class="line"><a id="l00615" name="l00615"></a><span class="lineno"> 615</span>{</div>
<div class="line"><a id="l00616" name="l00616"></a><span class="lineno"> 616</span> <span class="keywordflow">return</span> solutionPath_;</div>
<div class="line"><a id="l00617" name="l00617"></a><span class="lineno"> 617</span>}</div>
<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"> 618</span> </div>
<div class="foldopen" id="foldopen00619" data-start="{" data-end="}">
<div class="line"><a id="l00619" name="l00619"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0dba6b9849b1297dd0905ced2e5910b9"> 619</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0dba6b9849b1297dd0905ced2e5910b9">BundleSpaceGraph::getSolution</a>(ompl::base::PathPtr &solution)</div>
<div class="line"><a id="l00620" name="l00620"></a><span class="lineno"> 620</span>{</div>
<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"> 621</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a5ea7396973afee88972122c4afabac6b">hasSolution_</a>)</div>
<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span> {</div>
<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"> 623</span> <span class="keywordflow">if</span> ((solutionPath_ != <span class="keyword">nullptr</span>) && (getNumberOfVertices() == numVerticesWhenComputingSolutionPath_))</div>
<div class="line"><a id="l00624" name="l00624"></a><span class="lineno"> 624</span> {</div>
<div class="line"><a id="l00625" name="l00625"></a><span class="lineno"> 625</span> }</div>
<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"> 627</span> {</div>
<div class="line"><a id="l00628" name="l00628"></a><span class="lineno"> 628</span> Vertex goalVertex;</div>
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"> 629</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">goalConfigurations_</a>.size(); k++)</div>
<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"> 630</span> {</div>
<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"> 631</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *qk = <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">goalConfigurations_</a>.at(k);</div>
<div class="line"><a id="l00632" name="l00632"></a><span class="lineno"> 632</span> <span class="keywordflow">if</span> (sameComponent(vStart_, qk-><a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a21747759c6e5715675df75abd5decaa2">index</a>))</div>
<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"> 633</span> {</div>
<div class="line"><a id="l00634" name="l00634"></a><span class="lineno"> 634</span> solutionPath_ = <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a56aa7888ea79fe9bdb049a33956d283c">getPath</a>(vStart_, qk-><a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a21747759c6e5715675df75abd5decaa2">index</a>);</div>
<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"> 635</span> goalVertex = qk-><a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a21747759c6e5715675df75abd5decaa2">index</a>;</div>
<div class="line"><a id="l00636" name="l00636"></a><span class="lineno"> 636</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00637" name="l00637"></a><span class="lineno"> 637</span> }</div>
<div class="line"><a id="l00638" name="l00638"></a><span class="lineno"> 638</span> }</div>
<div class="line"><a id="l00639" name="l00639"></a><span class="lineno"> 639</span> <span class="keywordflow">if</span> (solutionPath_ == <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00640" name="l00640"></a><span class="lineno"> 640</span> {</div>
<div class="line"><a id="l00641" name="l00641"></a><span class="lineno"> 641</span> <span class="keywordflow">throw</span> <span class="stringliteral">"hasSolution_ is set, but no solution exists."</span>;</div>
<div class="line"><a id="l00642" name="l00642"></a><span class="lineno"> 642</span> }</div>
<div class="line"><a id="l00643" name="l00643"></a><span class="lineno"> 643</span> numVerticesWhenComputingSolutionPath_ = getNumberOfVertices();</div>
<div class="line"><a id="l00644" name="l00644"></a><span class="lineno"> 644</span> </div>
<div class="line"><a id="l00645" name="l00645"></a><span class="lineno"> 645</span> <span class="keywordflow">if</span> (!isDynamic() && solutionPath_ != solution && <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a216568fc1c5fd366af120660eeb96f98">hasParent</a>())</div>
<div class="line"><a id="l00646" name="l00646"></a><span class="lineno"> 646</span> {</div>
<div class="line"><a id="l00647" name="l00647"></a><span class="lineno"> 647</span> <span class="comment">// @NOTE: optimization seems to improve feasibility of sections</span></div>
<div class="line"><a id="l00648" name="l00648"></a><span class="lineno"> 648</span> <span class="comment">// in low-dim problems (up to 20 dof roughly), but will take too</span></div>
<div class="line"><a id="l00649" name="l00649"></a><span class="lineno"> 649</span> <span class="comment">// much time for high-dim problems. Reducing vertices seems to</span></div>
<div class="line"><a id="l00650" name="l00650"></a><span class="lineno"> 650</span> <span class="comment">// be the only optimization not significantly slowing everything</span></div>
<div class="line"><a id="l00651" name="l00651"></a><span class="lineno"> 651</span> <span class="comment">// down.</span></div>
<div class="line"><a id="l00652" name="l00652"></a><span class="lineno"> 652</span> </div>
<div class="line"><a id="l00653" name="l00653"></a><span class="lineno"> 653</span> <span class="keywordtype">bool</span> valid = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00654" name="l00654"></a><span class="lineno"> 654</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < 3; k++)</div>
<div class="line"><a id="l00655" name="l00655"></a><span class="lineno"> 655</span> {</div>
<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"> 656</span> <a class="code hl_class" href="classompl_1_1geometric_1_1PathGeometric.html">geometric::PathGeometric</a> &gpath = <span class="keyword">static_cast<</span><a class="code hl_class" href="classompl_1_1geometric_1_1PathGeometric.html">geometric::PathGeometric</a> &<span class="keyword">></span>(*solutionPath_);</div>
<div class="line"><a id="l00657" name="l00657"></a><span class="lineno"> 657</span> </div>
<div class="line"><a id="l00658" name="l00658"></a><span class="lineno"> 658</span> valid = <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac873a6ed1b139ec1924367e6a1664eea">optimizer_</a>->reduceVertices(gpath, 0, 0, 0.1);</div>
<div class="line"><a id="l00659" name="l00659"></a><span class="lineno"> 659</span> </div>
<div class="line"><a id="l00660" name="l00660"></a><span class="lineno"> 660</span> <span class="keywordflow">if</span> (!valid)</div>
<div class="line"><a id="l00661" name="l00661"></a><span class="lineno"> 661</span> {</div>
<div class="line"><a id="l00662" name="l00662"></a><span class="lineno"> 662</span> <span class="comment">// reset solutionPath</span></div>
<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"> 663</span> solutionPath_ = <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a56aa7888ea79fe9bdb049a33956d283c">getPath</a>(vStart_, goalVertex);</div>
<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span> }</div>
<div class="line"><a id="l00665" name="l00665"></a><span class="lineno"> 665</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00666" name="l00666"></a><span class="lineno"> 666</span> {</div>
<div class="line"><a id="l00667" name="l00667"></a><span class="lineno"> 667</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00668" name="l00668"></a><span class="lineno"> 668</span> }</div>
<div class="line"><a id="l00669" name="l00669"></a><span class="lineno"> 669</span> }</div>
<div class="line"><a id="l00670" name="l00670"></a><span class="lineno"> 670</span> }</div>
<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"> 671</span> }</div>
<div class="line"><a id="l00672" name="l00672"></a><span class="lineno"> 672</span> solution = solutionPath_;</div>
<div class="line"><a id="l00673" name="l00673"></a><span class="lineno"> 673</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00674" name="l00674"></a><span class="lineno"> 674</span> }</div>
<div class="line"><a id="l00675" name="l00675"></a><span class="lineno"> 675</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00676" name="l00676"></a><span class="lineno"> 676</span> {</div>
<div class="line"><a id="l00677" name="l00677"></a><span class="lineno"> 677</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00678" name="l00678"></a><span class="lineno"> 678</span> }</div>
<div class="line"><a id="l00679" name="l00679"></a><span class="lineno"> 679</span>}</div>
</div>
<div class="line"><a id="l00680" name="l00680"></a><span class="lineno"> 680</span> </div>
<div class="foldopen" id="foldopen00681" data-start="{" data-end="}">
<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a56aa7888ea79fe9bdb049a33956d283c"> 681</a></span>ompl::base::PathPtr <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a56aa7888ea79fe9bdb049a33956d283c">BundleSpaceGraph::getPath</a>(<span class="keyword">const</span> Vertex &start, <span class="keyword">const</span> Vertex &goal)</div>
<div class="line"><a id="l00682" name="l00682"></a><span class="lineno"> 682</span>{</div>
<div class="line"><a id="l00683" name="l00683"></a><span class="lineno"> 683</span> <span class="keywordflow">return</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a56aa7888ea79fe9bdb049a33956d283c">getPath</a>(start, goal, graph_);</div>
<div class="line"><a id="l00684" name="l00684"></a><span class="lineno"> 684</span>}</div>
</div>
<div class="line"><a id="l00685" name="l00685"></a><span class="lineno"> 685</span> </div>
<div class="line"><a id="l00686" name="l00686"></a><span class="lineno"> 686</span>ompl::base::PathPtr <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a56aa7888ea79fe9bdb049a33956d283c">BundleSpaceGraph::getPath</a>(<span class="keyword">const</span> Vertex &start, <span class="keyword">const</span> Vertex &goal, Graph &graph)</div>
<div class="line"><a id="l00687" name="l00687"></a><span class="lineno"> 687</span>{</div>
<div class="line"><a id="l00688" name="l00688"></a><span class="lineno"> 688</span> std::vector<Vertex> prev(boost::num_vertices(graph));</div>
<div class="line"><a id="l00689" name="l00689"></a><span class="lineno"> 689</span> <span class="keyword">auto</span> weight = boost::make_transform_value_property_map(std::mem_fn(&EdgeInternalState::getCost),</div>
<div class="line"><a id="l00690" name="l00690"></a><span class="lineno"> 690</span> get(boost::edge_bundle, graph));</div>
<div class="line"><a id="l00691" name="l00691"></a><span class="lineno"> 691</span> </div>
<div class="line"><a id="l00692" name="l00692"></a><span class="lineno"> 692</span> <span class="keywordflow">try</span></div>
<div class="line"><a id="l00693" name="l00693"></a><span class="lineno"> 693</span> {</div>
<div class="line"><a id="l00694" name="l00694"></a><span class="lineno"> 694</span> boost::astar_search(</div>
<div class="line"><a id="l00695" name="l00695"></a><span class="lineno"> 695</span> graph, start, [<span class="keyword">this</span>, goal](<span class="keyword">const</span> Vertex v) { <span class="keywordflow">return</span> costHeuristic(v, goal); },</div>
<div class="line"><a id="l00696" name="l00696"></a><span class="lineno"> 696</span> boost::predecessor_map(&prev[0])</div>
<div class="line"><a id="l00697" name="l00697"></a><span class="lineno"> 697</span> .weight_map(weight)</div>
<div class="line"><a id="l00698" name="l00698"></a><span class="lineno"> 698</span> .distance_compare(</div>
<div class="line"><a id="l00699" name="l00699"></a><span class="lineno"> 699</span> [<span class="keyword">this</span>](EdgeInternalState c1, EdgeInternalState c2)</div>
<div class="line"><a id="l00700" name="l00700"></a><span class="lineno"> 700</span> { <span class="keywordflow">return</span> getOptimizationObjectivePtr()->isCostBetterThan(c1.getCost(), c2.getCost()); })</div>
<div class="line"><a id="l00701" name="l00701"></a><span class="lineno"> 701</span> .distance_combine([<span class="keyword">this</span>](EdgeInternalState c1, EdgeInternalState c2)</div>
<div class="line"><a id="l00702" name="l00702"></a><span class="lineno"> 702</span> { <span class="keywordflow">return</span> getOptimizationObjectivePtr()->combineCosts(c1.getCost(), c2.getCost()); })</div>
<div class="line"><a id="l00703" name="l00703"></a><span class="lineno"> 703</span> .distance_inf(getOptimizationObjectivePtr()->infiniteCost())</div>
<div class="line"><a id="l00704" name="l00704"></a><span class="lineno"> 704</span> .distance_zero(getOptimizationObjectivePtr()->identityCost())</div>
<div class="line"><a id="l00705" name="l00705"></a><span class="lineno"> 705</span> .visitor(BundleSpaceGraphGoalVisitor<Vertex>(goal)));</div>
<div class="line"><a id="l00706" name="l00706"></a><span class="lineno"> 706</span> }</div>
<div class="line"><a id="l00707" name="l00707"></a><span class="lineno"> 707</span> <span class="keywordflow">catch</span> (BundleSpaceGraphFoundGoal &)</div>
<div class="line"><a id="l00708" name="l00708"></a><span class="lineno"> 708</span> {</div>
<div class="line"><a id="l00709" name="l00709"></a><span class="lineno"> 709</span> }</div>
<div class="line"><a id="l00710" name="l00710"></a><span class="lineno"> 710</span> </div>
<div class="line"><a id="l00711" name="l00711"></a><span class="lineno"> 711</span> <span class="keyword">auto</span> p(std::make_shared<geometric::PathGeometric>(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()));</div>
<div class="line"><a id="l00712" name="l00712"></a><span class="lineno"> 712</span> <span class="keywordflow">if</span> (prev[goal] == goal)</div>
<div class="line"><a id="l00713" name="l00713"></a><span class="lineno"> 713</span> {</div>
<div class="line"><a id="l00714" name="l00714"></a><span class="lineno"> 714</span> <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div>
<div class="line"><a id="l00715" name="l00715"></a><span class="lineno"> 715</span> }</div>
<div class="line"><a id="l00716" name="l00716"></a><span class="lineno"> 716</span> </div>
<div class="line"><a id="l00717" name="l00717"></a><span class="lineno"> 717</span> std::vector<Vertex> vpath;</div>
<div class="line"><a id="l00718" name="l00718"></a><span class="lineno"> 718</span> <span class="keywordflow">for</span> (Vertex pos = goal; prev[pos] != pos; pos = prev[pos])</div>
<div class="line"><a id="l00719" name="l00719"></a><span class="lineno"> 719</span> {</div>
<div class="line"><a id="l00720" name="l00720"></a><span class="lineno"> 720</span> graph[pos]->on_shortest_path = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00721" name="l00721"></a><span class="lineno"> 721</span> vpath.push_back(pos);</div>
<div class="line"><a id="l00722" name="l00722"></a><span class="lineno"> 722</span> p->append(graph[pos]->state);</div>
<div class="line"><a id="l00723" name="l00723"></a><span class="lineno"> 723</span> }</div>
<div class="line"><a id="l00724" name="l00724"></a><span class="lineno"> 724</span> graph[start]->on_shortest_path = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00725" name="l00725"></a><span class="lineno"> 725</span> vpath.push_back(start);</div>
<div class="line"><a id="l00726" name="l00726"></a><span class="lineno"> 726</span> p->append(graph[start]->state);</div>
<div class="line"><a id="l00727" name="l00727"></a><span class="lineno"> 727</span> </div>
<div class="line"><a id="l00728" name="l00728"></a><span class="lineno"> 728</span> shortestVertexPath_.clear();</div>
<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"> 729</span> shortestVertexPath_.insert(shortestVertexPath_.begin(), vpath.rbegin(), vpath.rend());</div>
<div class="line"><a id="l00730" name="l00730"></a><span class="lineno"> 730</span> p->reverse();</div>
<div class="line"><a id="l00731" name="l00731"></a><span class="lineno"> 731</span> </div>
<div class="line"><a id="l00732" name="l00732"></a><span class="lineno"> 732</span> <span class="keywordflow">return</span> p;</div>
<div class="line"><a id="l00733" name="l00733"></a><span class="lineno"> 733</span>}</div>
<div class="line"><a id="l00734" name="l00734"></a><span class="lineno"> 734</span> </div>
<div class="line"><a id="l00735" name="l00735"></a><span class="lineno"> 735</span><span class="keywordtype">void</span> BundleSpaceGraph::sampleBundleGoalBias(ompl::base::State *xRandom)</div>
<div class="line"><a id="l00736" name="l00736"></a><span class="lineno"> 736</span>{</div>
<div class="line"><a id="l00737" name="l00737"></a><span class="lineno"> 737</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a5ea7396973afee88972122c4afabac6b">hasSolution_</a>)</div>
<div class="line"><a id="l00738" name="l00738"></a><span class="lineno"> 738</span> {</div>
<div class="line"><a id="l00739" name="l00739"></a><span class="lineno"> 739</span> <span class="comment">// No Goal Biasing if we already found a solution on this bundle space</span></div>
<div class="line"><a id="l00740" name="l00740"></a><span class="lineno"> 740</span> sampleBundle(xRandom);</div>
<div class="line"><a id="l00741" name="l00741"></a><span class="lineno"> 741</span> }</div>
<div class="line"><a id="l00742" name="l00742"></a><span class="lineno"> 742</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00743" name="l00743"></a><span class="lineno"> 743</span> {</div>
<div class="line"><a id="l00744" name="l00744"></a><span class="lineno"> 744</span> <span class="keywordtype">double</span> s = rng_.uniform01();</div>
<div class="line"><a id="l00745" name="l00745"></a><span class="lineno"> 745</span> <span class="keywordflow">if</span> (s < <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4df8b0de73fc4288c525d83eae82c03b">goalBias_</a> && getGoalPtr()->canSample())</div>
<div class="line"><a id="l00746" name="l00746"></a><span class="lineno"> 746</span> {</div>
<div class="line"><a id="l00747" name="l00747"></a><span class="lineno"> 747</span> getGoalPtr()->sampleGoal(xRandom);</div>
<div class="line"><a id="l00748" name="l00748"></a><span class="lineno"> 748</span> }</div>
<div class="line"><a id="l00749" name="l00749"></a><span class="lineno"> 749</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00750" name="l00750"></a><span class="lineno"> 750</span> {</div>
<div class="line"><a id="l00751" name="l00751"></a><span class="lineno"> 751</span> sampleBundle(xRandom);</div>
<div class="line"><a id="l00752" name="l00752"></a><span class="lineno"> 752</span> }</div>
<div class="line"><a id="l00753" name="l00753"></a><span class="lineno"> 753</span> }</div>
<div class="line"><a id="l00754" name="l00754"></a><span class="lineno"> 754</span>}</div>
<div class="line"><a id="l00755" name="l00755"></a><span class="lineno"> 755</span> </div>
<div class="line"><a id="l00756" name="l00756"></a><span class="lineno"> 756</span><span class="keywordtype">void</span> BundleSpaceGraph::sampleFromDatastructure(ompl::base::State *xRandom)</div>
<div class="line"><a id="l00757" name="l00757"></a><span class="lineno"> 757</span>{</div>
<div class="line"><a id="l00758" name="l00758"></a><span class="lineno"> 758</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0d9698226aaed8c3b3224da08820a30e">graphSampler_</a>->sample(xRandom);</div>
<div class="line"><a id="l00759" name="l00759"></a><span class="lineno"> 759</span>}</div>
<div class="line"><a id="l00760" name="l00760"></a><span class="lineno"> 760</span> </div>
<div class="foldopen" id="foldopen00761" data-start="{" data-end="}">
<div class="line"><a id="l00761" name="l00761"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4a4fa56792faf06ff5b7a2a02f518b8e"> 761</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4a4fa56792faf06ff5b7a2a02f518b8e">BundleSpaceGraph::writeToGraphviz</a>(std::string filename)<span class="keyword"> const</span></div>
<div class="line"><a id="l00762" name="l00762"></a><span class="lineno"> 762</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00763" name="l00763"></a><span class="lineno"> 763</span> std::ofstream f(filename.c_str());</div>
<div class="line"><a id="l00764" name="l00764"></a><span class="lineno"> 764</span> std::vector<std::string> annotationVec;</div>
<div class="line"><a id="l00765" name="l00765"></a><span class="lineno"> 765</span> <span class="keywordflow">foreach</span> (<span class="keyword">const</span> Vertex v, boost::vertices(graph_))</div>
<div class="line"><a id="l00766" name="l00766"></a><span class="lineno"> 766</span> {</div>
<div class="line"><a id="l00767" name="l00767"></a><span class="lineno"> 767</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *qv = graph_[v];</div>
<div class="line"><a id="l00768" name="l00768"></a><span class="lineno"> 768</span> <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">base::State</a> *s = qv->state;</div>
<div class="line"><a id="l00769" name="l00769"></a><span class="lineno"> 769</span> std::ostringstream out;</div>
<div class="line"><a id="l00770" name="l00770"></a><span class="lineno"> 770</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->printState(s, out);</div>
<div class="line"><a id="l00771" name="l00771"></a><span class="lineno"> 771</span> annotationVec.push_back(out.str());</div>
<div class="line"><a id="l00772" name="l00772"></a><span class="lineno"> 772</span> }</div>
<div class="line"><a id="l00773" name="l00773"></a><span class="lineno"> 773</span> write_graphviz(f, graph_, boost::make_label_writer(&annotationVec[0]));</div>
<div class="line"><a id="l00774" name="l00774"></a><span class="lineno"> 774</span>}</div>
</div>
<div class="line"><a id="l00775" name="l00775"></a><span class="lineno"> 775</span> </div>
<div class="foldopen" id="foldopen00776" data-start="{" data-end="}">
<div class="line"><a id="l00776" name="l00776"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac6c48f0bd45ba92bc2329620049352eb"> 776</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac6c48f0bd45ba92bc2329620049352eb">BundleSpaceGraph::print</a>(std::ostream &out)<span class="keyword"> const</span></div>
<div class="line"><a id="l00777" name="l00777"></a><span class="lineno"> 777</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00778" name="l00778"></a><span class="lineno"> 778</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#aba53eb10bda696ee9ae962b5ff7a5bcb">BaseT::print</a>(out);</div>
<div class="line"><a id="l00779" name="l00779"></a><span class="lineno"> 779</span> out << std::endl</div>
<div class="line"><a id="l00780" name="l00780"></a><span class="lineno"> 780</span> << <span class="stringliteral">" --[BundleSpaceGraph has "</span> << getNumberOfVertices() << <span class="stringliteral">" vertices and "</span> << getNumberOfEdges() << <span class="stringliteral">" edges.]"</span></div>
<div class="line"><a id="l00781" name="l00781"></a><span class="lineno"> 781</span> << std::endl;</div>
<div class="line"><a id="l00782" name="l00782"></a><span class="lineno"> 782</span>}</div>
</div>
<div class="line"><a id="l00783" name="l00783"></a><span class="lineno"> 783</span> </div>
<div class="foldopen" id="foldopen00784" data-start="{" data-end="}">
<div class="line"><a id="l00784" name="l00784"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a98a915de831599f05406e62c225b7445"> 784</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a98a915de831599f05406e62c225b7445">BundleSpaceGraph::printConfiguration</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *q)<span class="keyword"> const</span></div>
<div class="line"><a id="l00785" name="l00785"></a><span class="lineno"> 785</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00786" name="l00786"></a><span class="lineno"> 786</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->printState(q->state);</div>
<div class="line"><a id="l00787" name="l00787"></a><span class="lineno"> 787</span>}</div>
</div>
<div class="line"><a id="l00788" name="l00788"></a><span class="lineno"> 788</span> </div>
<div class="line"><a id="l00789" name="l00789"></a><span class="lineno"> 789</span><span class="keywordtype">void</span> BundleSpaceGraph::getPlannerDataGraph(<a class="code hl_class" href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a> &data, <span class="keyword">const</span> Graph &graph, <span class="keyword">const</span> Vertex vStart)<span class="keyword"> const</span></div>
<div class="line"><a id="l00790" name="l00790"></a><span class="lineno"> 790</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00791" name="l00791"></a><span class="lineno"> 791</span> <span class="keywordflow">if</span> (boost::num_vertices(graph) <= 0)</div>
<div class="line"><a id="l00792" name="l00792"></a><span class="lineno"> 792</span> <span class="keywordflow">return</span>;</div>
<div class="line"><a id="l00793" name="l00793"></a><span class="lineno"> 793</span> </div>
<div class="line"><a id="l00794" name="l00794"></a><span class="lineno"> 794</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1PlannerDataVertexAnnotated.html">multilevel::PlannerDataVertexAnnotated</a> pstart(graph[vStart]->state);</div>
<div class="line"><a id="l00795" name="l00795"></a><span class="lineno"> 795</span> pstart.setLevel(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#afed3a77b33d3e6d24016f06b0b577feb">getLevel</a>());</div>
<div class="line"><a id="l00796" name="l00796"></a><span class="lineno"> 796</span> data.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#a2eea84456784452486aa0065af391f47">addStartVertex</a>(pstart);</div>
<div class="line"><a id="l00797" name="l00797"></a><span class="lineno"> 797</span> </div>
<div class="line"><a id="l00798" name="l00798"></a><span class="lineno"> 798</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">goalConfigurations_</a>.size(); k++)</div>
<div class="line"><a id="l00799" name="l00799"></a><span class="lineno"> 799</span> {</div>
<div class="line"><a id="l00800" name="l00800"></a><span class="lineno"> 800</span> Configuration *qgoal = <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">goalConfigurations_</a>.at(k);</div>
<div class="line"><a id="l00801" name="l00801"></a><span class="lineno"> 801</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1PlannerDataVertexAnnotated.html">multilevel::PlannerDataVertexAnnotated</a> pgoal(qgoal->state);</div>
<div class="line"><a id="l00802" name="l00802"></a><span class="lineno"> 802</span> pgoal.setLevel(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#afed3a77b33d3e6d24016f06b0b577feb">getLevel</a>());</div>