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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">BundleSpace.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) 2020,</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * Max Planck Institute for Intelligent Systems (MPI-IS).</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> * All rights reserved.</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> *</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> * are met:</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> *</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment"> * with the distribution.</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment"> * * Neither the name of the MPI-IS nor the names</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment"> * of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment"> * derived from this software without specific prior written</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment"> * permission.</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment"> *</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span><span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</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="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="comment"> *********************************************************************/</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="comment">/* Author: Andreas Orthey */</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include <ompl/multilevel/datastructures/BundleSpace.h></span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include <ompl/multilevel/datastructures/Projection.h></span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#include <ompl/base/objectives/PathLengthOptimizationObjective.h></span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#include <ompl/base/goals/GoalSampleableRegion.h></span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="preprocessor">#include <ompl/control/SpaceInformation.h></span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="preprocessor">#include <ompl/base/spaces/SO2StateSpace.h></span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="preprocessor">#include <ompl/base/spaces/SO3StateSpace.h></span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="preprocessor">#include <ompl/base/spaces/RealVectorStateSpace.h></span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="preprocessor">#include <ompl/base/spaces/TimeStateSpace.h></span></div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span><span class="preprocessor">#include <ompl/base/spaces/DiscreteStateSpace.h></span></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="preprocessor">#include <ompl/tools/config/MagicConstants.h></span></div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> </div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span><span class="preprocessor">#include <ompl/util/Exception.h></span></div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span><span class="preprocessor">#include <cmath></span> <span class="comment">//to use isnan(d)</span></div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span><span class="keyword">using namespace </span><a class="code hl_namespace" href="namespaceompl_1_1base.html">ompl::base</a>;</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</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="l00057" name="l00057"></a><span class="lineno"> 57</span> </div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a08a0f9b8ac0beef5e112739f5f555f91">BundleSpace::counter_</a> = 0;</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> </div>
<div class="foldopen" id="foldopen00060" data-start="{" data-end="}">
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#a6ea3b8ddd219e7827a78a81962ecc872"> 60</a></span><a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a6ea3b8ddd219e7827a78a81962ecc872">BundleSpace::BundleSpace</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1SpaceInformationPtr.html">SpaceInformationPtr</a> &si, <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a6ea3b8ddd219e7827a78a81962ecc872">BundleSpace</a> *child)</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> : Planner(si, <span class="stringliteral">"BundleSpace"</span>), childBundleSpace_(child), totalSpace_(si)</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> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a599e4b58a5ac98b67453352f263cb268">id_</a> = <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a08a0f9b8ac0beef5e112739f5f555f91">counter_</a>++;</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keywordflow">if</span> (child)</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> {</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> baseSpace_ = childBundleSpace_->getBundle();</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> childBundleSpace_->setParent(<span class="keyword">this</span>);</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a6cc3d599af788bdffa7f8237a845cd9f">xBaseTmp_</a> = <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#ad73cb9a191ea10d3e8db62ec0c3fbfc5">getBase</a>()->allocState();</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> }</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> </div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> std::stringstream ss;</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> ss << (*this);</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <a class="code hl_define" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(ss.str().c_str());</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="keywordflow">if</span> (!Bundle_valid_sampler_)</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> Bundle_valid_sampler_ = <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->allocValidStateSampler();</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> }</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="keywordflow">if</span> (!Bundle_sampler_)</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> Bundle_sampler_ = <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->allocStateSampler();</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> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#ad2a30b7eb53ad4831b2399d0584cbb65">xBundleTmp_</a> = <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->allocState();</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span>}</div>
</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> </div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span>BundleSpace::~BundleSpace()</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span>{</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#aaa343d7c86e2debc5cad8ba3e4936587">hasBaseSpace</a>())</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> {</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a6cc3d599af788bdffa7f8237a845cd9f">xBaseTmp_</a>)</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> {</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#ad73cb9a191ea10d3e8db62ec0c3fbfc5">getBase</a>()->freeState(<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a6cc3d599af788bdffa7f8237a845cd9f">xBaseTmp_</a>);</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</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> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#ad2a30b7eb53ad4831b2399d0584cbb65">xBundleTmp_</a>)</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> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->freeState(<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#ad2a30b7eb53ad4831b2399d0584cbb65">xBundleTmp_</a>);</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> }</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span>}</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> </div>
<div class="foldopen" id="foldopen00101" data-start="{" data-end="}">
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#a96f6bee45ab1ac1c3fd9b176bfa3864a"> 101</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a96f6bee45ab1ac1c3fd9b176bfa3864a">BundleSpace::makeProjection</a>()</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span>{</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <a class="code hl_class" href="classompl_1_1multilevel_1_1ProjectionFactory.html">ProjectionFactory</a> projectionFactory;</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> </div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> projection_ = projectionFactory.<a class="code hl_function" href="classompl_1_1multilevel_1_1ProjectionFactory.html#addde2f3b26c4e7d673efb467577f6ec8">makeProjection</a>(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>(), <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#ad73cb9a191ea10d3e8db62ec0c3fbfc5">getBase</a>());</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> </div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordflow">if</span> (!projection_)</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> </div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#accfc2324063c811f90fe48f848e3adff">sanityChecks</a>();</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span>}</div>
</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> </div>
<div class="foldopen" id="foldopen00114" data-start="{" data-end="}">
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#aaa343d7c86e2debc5cad8ba3e4936587"> 114</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#aaa343d7c86e2debc5cad8ba3e4936587">BundleSpace::hasBaseSpace</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keywordflow">return</span> !(baseSpace_ == <span class="keyword">nullptr</span>);</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span>}</div>
</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><span class="keywordtype">bool</span> BundleSpace::findSection()</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> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span>}</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> </div>
<div class="foldopen" id="foldopen00124" data-start="{" data-end="}">
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#a216568fc1c5fd366af120660eeb96f98"> 124</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a216568fc1c5fd366af120660eeb96f98">BundleSpace::hasParent</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordflow">return</span> !(parentBundleSpace_ == <span class="keyword">nullptr</span>);</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span>}</div>
</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> </div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span><span class="keywordtype">bool</span> BundleSpace::isDynamic()<span class="keyword"> const</span></div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a1ba01182e7dfdbb61d69ee9496ac777e">isDynamic_</a>;</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span>}</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> </div>
<div class="foldopen" id="foldopen00134" data-start="{" data-end="}">
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#a37874b2ca0ca976b61da46c8e0f47e44"> 134</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a37874b2ca0ca976b61da46c8e0f47e44">BundleSpace::setup</a>()</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span>{</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#ab7e49fc3b3b7011d46d647d8f1603bd5">BaseT::setup</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_1BundleSpace.html#a5ea7396973afee88972122c4afabac6b">hasSolution_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#ac7cd7fdb6f7bbca9a2e299e6ab46b463">firstRun_</a> = <span class="keyword">true</span>;</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> <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="l00142" name="l00142"></a><span class="lineno"> 142</span> {</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->hasOptimizationObjective())</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> {</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <a class="code hl_class" href="classompl_1_1base_1_1OptimizationObjectivePtr.html">OptimizationObjectivePtr</a> lengthObj = std::make_shared<base::PathLengthOptimizationObjective>(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>());</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> lengthObj->setCostThreshold(<a class="code hl_class" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(std::numeric_limits<double>::infinity()));</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->setOptimizationObjective(lengthObj);</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</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> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> {</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Called without ProblemDefinitionPtr"</span>);</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordflow">throw</span> <span class="stringliteral">"NoProblemDef"</span>;</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> }</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span>}</div>
</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> </div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span><a class="code hl_class" href="classompl_1_1base_1_1GoalSampleableRegion.html">GoalSampleableRegion</a> *BundleSpace::getGoalPtr()<span class="keyword"> const</span></div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <a class="code hl_class" href="classompl_1_1base_1_1GoalSampleableRegion.html">base::GoalSampleableRegion</a> *goal = <span class="keyword">static_cast<</span><a class="code hl_class" href="classompl_1_1base_1_1GoalSampleableRegion.html">base::GoalSampleableRegion</a> *<span class="keyword">></span>(<a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->getGoal().get());</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordflow">return</span> goal;</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> </div>
<div class="foldopen" id="foldopen00164" data-start="{" data-end="}">
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#a17bc273d461af6a05f9f5716dba47c24"> 164</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a17bc273d461af6a05f9f5716dba47c24">BundleSpace::clear</a>()</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span>{</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a7929c12020a42b679601d22fb204919a">BaseT::clear</a>();</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> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a5ea7396973afee88972122c4afabac6b">hasSolution_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#ac7cd7fdb6f7bbca9a2e299e6ab46b463">firstRun_</a> = <span class="keyword">true</span>;</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> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->clearSolutionPaths();</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span>}</div>
</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> </div>
<div class="foldopen" id="foldopen00174" data-start="{" data-end="}">
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#accfc2324063c811f90fe48f848e3adff"> 174</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#accfc2324063c811f90fe48f848e3adff">BundleSpace::sanityChecks</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> Bundle_space = <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->getStateSpace();</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#ad177a04e74804b84ea405c10b7b3d62d">checkBundleSpaceMeasure</a>(<span class="stringliteral">"Bundle"</span>, Bundle_space);</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> </div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#aaa343d7c86e2debc5cad8ba3e4936587">hasBaseSpace</a>())</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> {</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> Base_space = <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#ad73cb9a191ea10d3e8db62ec0c3fbfc5">getBase</a>()->getStateSpace();</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#ad177a04e74804b84ea405c10b7b3d62d">checkBundleSpaceMeasure</a>(<span class="stringliteral">"Base"</span>, Base_space);</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">getProjection</a>()->getDimension() != <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#aad021dc8123f1f11e21a52c6d59ccd38">getBundleDimension</a>())</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">throw</span> <a class="code hl_class" href="classompl_1_1Exception.html">Exception</a>(<span class="stringliteral">"BundleSpace Dimensions are wrong."</span>);</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> }</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> }</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span>}</div>
</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> </div>
<div class="foldopen" id="foldopen00190" data-start="{" data-end="}">
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#ad177a04e74804b84ea405c10b7b3d62d"> 190</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#ad177a04e74804b84ea405c10b7b3d62d">BundleSpace::checkBundleSpaceMeasure</a>(std::string name, <span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> space)<span class="keyword"> const</span></div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> OMPL_DEVMSG1(<span class="stringliteral">"%s dimension: %d measure: %f"</span>, name.c_str(), space->getDimension(), space->getMeasure());</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> </div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="keywordflow">if</span> ((space->getMeasure() >= std::numeric_limits<double>::infinity()))</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> {</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keywordflow">throw</span> <a class="code hl_class" href="classompl_1_1Exception.html">Exception</a>(<span class="stringliteral">"Space infinite measure."</span>);</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> }</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span>}</div>
</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> </div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span><a class="code hl_struct" href="structompl_1_1base_1_1PlannerStatus.html">PlannerStatus</a> BundleSpace::solve(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerTerminationCondition.html">PlannerTerminationCondition</a> &)</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span>{</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keywordflow">throw</span> <a class="code hl_class" href="classompl_1_1Exception.html">Exception</a>(<span class="stringliteral">"A Bundle-Space cannot be solved alone. \</span></div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span><span class="stringliteral"> Use class BundleSpaceSequence to solve Bundle-Spaces."</span>);</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span>}</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> </div>
<div class="foldopen" id="foldopen00206" data-start="{" data-end="}">
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#ab5942a757c6f9c570862c915ae590b06"> 206</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#ab5942a757c6f9c570862c915ae590b06">BundleSpace::setProblemDefinition</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1ProblemDefinitionPtr.html">ProblemDefinitionPtr</a> &pdef)</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> <a class="code hl_function" href="classompl_1_1base_1_1Planner.html#add968ea14f1aa3d3bffc110da3e1d031">BaseT::setProblemDefinition</a>(pdef);</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span>}</div>
</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> </div>
<div class="foldopen" id="foldopen00211" data-start="{" data-end="}">
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#a91bf5b33ea846104f518823a8cc5fc12"> 211</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a91bf5b33ea846104f518823a8cc5fc12">BundleSpace::resetCounter</a>()</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span>{</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a08a0f9b8ac0beef5e112739f5f555f91">BundleSpace::counter_</a> = 0;</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span>}</div>
</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> </div>
<div class="foldopen" id="foldopen00216" data-start="{" data-end="}">
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#a454fb6c609dae1165257746519e374a0"> 216</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a454fb6c609dae1165257746519e374a0">BundleSpace::setProjection</a>(ProjectionPtr projection)</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> projection_ = projection;</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">getProjection</a>() == <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> {</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Projection is nullptr."</span>);</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="keywordflow">throw</span> <span class="stringliteral">"Projection is nullptr."</span>;</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>}</div>
</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> </div>
<div class="foldopen" id="foldopen00226" data-start="{" data-end="}">
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714"> 226</a></span>ProjectionPtr <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">BundleSpace::getProjection</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keywordflow">return</span> projection_;</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span>}</div>
</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> </div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span><span class="keywordtype">void</span> BundleSpace::allocIdentityState(<a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *s, <a class="code hl_class" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> space)<span class="keyword"> const</span></div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> <span class="keywordflow">if</span> (space->isCompound())</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> {</div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <a class="code hl_class" href="classompl_1_1base_1_1CompoundStateSpace.html">CompoundStateSpace</a> *cspace = space->as<<a class="code hl_class" href="classompl_1_1base_1_1CompoundStateSpace.html">CompoundStateSpace</a>>();</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keyword">const</span> std::vector<StateSpacePtr> compounds = cspace-><a class="code hl_function" href="classompl_1_1base_1_1CompoundStateSpace.html#ad696fe7c77eed7ac104cba13f94f1b80">getSubspaces</a>();</div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < compounds.size(); k++)</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_class" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> spacek = compounds.at(k);</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *xk = s-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_class" href="classompl_1_1base_1_1CompoundState.html">CompoundState</a>>()-><a class="code hl_function" href="classompl_1_1base_1_1Planner.html#a0b254b9541d76d3b12889a799a864fdf">as<State></a>(k);</div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> allocIdentityState(xk, spacek);</div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> }</div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> }</div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <span class="keywordflow">else</span></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> <span class="keywordtype">int</span> stype = space->getType();</div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> <span class="keywordflow">switch</span> (stype)</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> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920ae9ec8f7cf5204246a32a44768d843fb1">STATE_SPACE_SO3</a>:</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> <span class="keyword">static_cast<</span><a class="code hl_class" href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html">SO3StateSpace::StateType</a> *<span class="keyword">></span>(s)->setIdentity();</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> }</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920aca07fe8d9ce9fe45ad5d1b2d90c8c1fc">STATE_SPACE_SO2</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> <span class="keyword">static_cast<</span>SO2StateSpace::StateType *<span class="keyword">></span>(s)->setIdentity();</div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> <span class="keywordflow">break</span>;</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> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920afc515ecf796d311c9ae7ae879fb63158">STATE_SPACE_TIME</a>:</div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> {</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> <span class="keyword">static_cast<</span>TimeStateSpace::StateType *<span class="keyword">></span>(s)->position = 0;</div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="keywordflow">break</span>;</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> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920a56b36a6f5b0a8ae48be0baa7e348def3">STATE_SPACE_DISCRETE</a>:</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> DiscreteStateSpace *space_Discrete = space->as<DiscreteStateSpace>();</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <span class="keywordtype">int</span> lb = space_Discrete-><a class="code hl_function" href="classompl_1_1base_1_1DiscreteStateSpace.html#abff205c54f34ecc38118ba2ad9299f55">getLowerBound</a>();</div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keyword">static_cast<</span>DiscreteStateSpace::StateType *<span class="keyword">></span>(s)->value = lb;</div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> }</div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920abb95f16481daa006d055bad7060b8fbb">STATE_SPACE_REAL_VECTOR</a>:</div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> {</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> RealVectorStateSpace::StateType *sRN = s-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><RealVectorStateSpace::StateType>();</div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> RealVectorStateSpace *RN = space->as<RealVectorStateSpace>();</div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keyword">const</span> std::vector<double> &bl = RN->getBounds().low;</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> <span class="keyword">const</span> std::vector<double> &bh = RN->getBounds().high;</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < space->getDimension(); k++)</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> <span class="keywordtype">double</span> &v = sRN-><a class="code hl_variable" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#a916575eb76687da3b47a2d9699128498">values</a>[k];</div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> v = 0.0;</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="comment">// if zero is not valid, use mid point as identity</span></div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> <span class="keywordflow">if</span> (v < bl.at(k) || v > bh.at(k))</div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> {</div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> v = bl.at(k) + 0.5 * (bh.at(k) - bl.at(k));</div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> }</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> <span class="keywordflow">break</span>;</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="keywordflow">default</span>:</div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> {</div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Type: %d not recognized."</span>, stype);</div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> <span class="keywordflow">throw</span> Exception(<span class="stringliteral">"Type not recognized."</span>);</div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> }</div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> }</div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> }</div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span>}</div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> </div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span>State *BundleSpace::allocIdentityState(StateSpacePtr space)<span class="keyword"> const</span></div>
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <span class="keywordflow">if</span> (space != <span class="keyword">nullptr</span>)</div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> {</div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> State *s = space->allocState();</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> allocIdentityState(s, space);</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keywordflow">return</span> s;</div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> }</div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keywordflow">else</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">return</span> <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>}</div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> </div>
<div class="foldopen" id="foldopen00313" data-start="{" data-end="}">
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#aa217a6f17d9fdc6c56c36ba4d6007f62"> 313</a></span><a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#aa217a6f17d9fdc6c56c36ba4d6007f62">BundleSpace::allocIdentityStateBundle</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <span class="keywordflow">return</span> allocIdentityState(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->getStateSpace());</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span>}</div>
</div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> </div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span><a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *BundleSpace::allocIdentityStateBase()<span class="keyword"> const</span></div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="keywordflow">return</span> allocIdentityState(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#ad73cb9a191ea10d3e8db62ec0c3fbfc5">getBase</a>()->getStateSpace());</div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span>}</div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> </div>
<div class="foldopen" id="foldopen00323" data-start="{" data-end="}">
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d"> 323</a></span><span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1SpaceInformationPtr.html">SpaceInformationPtr</a> &<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">BundleSpace::getBundle</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> <span class="keywordflow">return</span> totalSpace_;</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="foldopen" id="foldopen00328" data-start="{" data-end="}">
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#ad73cb9a191ea10d3e8db62ec0c3fbfc5"> 328</a></span><span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1control_1_1SpaceInformationPtr.html">SpaceInformationPtr</a> &<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#ad73cb9a191ea10d3e8db62ec0c3fbfc5">BundleSpace::getBase</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <span class="keywordflow">return</span> baseSpace_;</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span>}</div>
</div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> </div>
<div class="foldopen" id="foldopen00333" data-start="{" data-end="}">
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#a4134d7b54077ac0ef2d900e00016c4fa"> 333</a></span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a4134d7b54077ac0ef2d900e00016c4fa">BundleSpace::getBaseDimension</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#ad73cb9a191ea10d3e8db62ec0c3fbfc5">getBase</a>())</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> <span class="keywordflow">return</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#ad73cb9a191ea10d3e8db62ec0c3fbfc5">getBase</a>()->getStateDimension();</div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> <span class="keywordflow">return</span> 0;</div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span>}</div>
</div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> </div>
<div class="foldopen" id="foldopen00341" data-start="{" data-end="}">
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#aad021dc8123f1f11e21a52c6d59ccd38"> 341</a></span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#aad021dc8123f1f11e21a52c6d59ccd38">BundleSpace::getBundleDimension</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <span class="keywordflow">return</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->getStateDimension();</div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span>}</div>
</div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> </div>
<div class="foldopen" id="foldopen00346" data-start="{" data-end="}">
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#a4f4b5a549278c0142c85722a6e3c9070"> 346</a></span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a4f4b5a549278c0142c85722a6e3c9070">BundleSpace::getCoDimension</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <span class="keywordflow">return</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#aad021dc8123f1f11e21a52c6d59ccd38">getBundleDimension</a>() - <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a4134d7b54077ac0ef2d900e00016c4fa">getBaseDimension</a>();</div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span>}</div>
</div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> </div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span><span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a> &BundleSpace::getBaseSamplerPtr()<span class="keyword"> const</span></div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#aaa343d7c86e2debc5cad8ba3e4936587">hasBaseSpace</a>())</div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> {</div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keywordflow">return</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a84a9b3481d9f8a285f932d4e7fbb97a5">getChild</a>()->getBundleSamplerPtr();</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> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> {</div>
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Cannot get Base Sampler without Base Space."</span>);</div>
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> <span class="keywordflow">throw</span> <a class="code hl_class" href="classompl_1_1Exception.html">Exception</a>(<span class="stringliteral">"Tried Calling Non-existing base space sampler"</span>);</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>}</div>
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> </div>
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span><span class="keyword">const</span> StateSamplerPtr &BundleSpace::getBundleSamplerPtr()<span class="keyword"> const</span></div>
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> <span class="keywordflow">return</span> Bundle_sampler_;</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> </div>
<div class="foldopen" id="foldopen00369" data-start="{" data-end="}">
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#a428add084ed48c68645ee58cdc802f04"> 369</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a428add084ed48c68645ee58cdc802f04">BundleSpace::isInfeasible</a>()</div>
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span>{</div>
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span>}</div>
</div>
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> </div>
<div class="foldopen" id="foldopen00374" data-start="{" data-end="}">
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#ab617487432aef17eb637116caefded54"> 374</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#ab617487432aef17eb637116caefded54">BundleSpace::hasConverged</a>()</div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span>{</div>
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span>}</div>
</div>
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> </div>
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span><span class="keywordtype">bool</span> BundleSpace::hasSolution()</div>
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span>{</div>
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</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="l00382" name="l00382"></a><span class="lineno"> 382</span> {</div>
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <a class="code hl_class" href="classompl_1_1base_1_1PathPtr.html">PathPtr</a> path;</div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a5ea7396973afee88972122c4afabac6b">hasSolution_</a> = <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a59b0dd36930d0e1b6c418188b802a8c5">getSolution</a>(path);</div>
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> }</div>
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a5ea7396973afee88972122c4afabac6b">hasSolution_</a>;</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> </div>
<div class="foldopen" id="foldopen00389" data-start="{" data-end="}">
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#a84a9b3481d9f8a285f932d4e7fbb97a5"> 389</a></span><a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a6ea3b8ddd219e7827a78a81962ecc872">BundleSpace</a> *<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a84a9b3481d9f8a285f932d4e7fbb97a5">BundleSpace::getChild</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> <span class="keywordflow">return</span> childBundleSpace_;</div>
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span>}</div>
</div>
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> </div>
<div class="foldopen" id="foldopen00394" data-start="{" data-end="}">
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#acc7c2e44883e7bd04de3d9da59c2a19f"> 394</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#acc7c2e44883e7bd04de3d9da59c2a19f">BundleSpace::setChild</a>(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a6ea3b8ddd219e7827a78a81962ecc872">BundleSpace</a> *child)</div>
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span>{</div>
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> childBundleSpace_ = child;</div>
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span>}</div>
</div>
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> </div>
<div class="foldopen" id="foldopen00399" data-start="{" data-end="}">
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#aa7e322a2fb1cc44b5e511af0c307b5bf"> 399</a></span><a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a6ea3b8ddd219e7827a78a81962ecc872">BundleSpace</a> *<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#aa7e322a2fb1cc44b5e511af0c307b5bf">BundleSpace::getParent</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> <span class="keywordflow">return</span> parentBundleSpace_;</div>
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span>}</div>
</div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> </div>
<div class="foldopen" id="foldopen00404" data-start="{" data-end="}">
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#a4f51c437052d6760abc9f3736ab19749"> 404</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a4f51c437052d6760abc9f3736ab19749">BundleSpace::setParent</a>(<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a6ea3b8ddd219e7827a78a81962ecc872">BundleSpace</a> *parent)</div>
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span>{</div>
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> parentBundleSpace_ = parent;</div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span>}</div>
</div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> </div>
<div class="foldopen" id="foldopen00409" data-start="{" data-end="}">
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#afed3a77b33d3e6d24016f06b0b577feb"> 409</a></span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#afed3a77b33d3e6d24016f06b0b577feb">BundleSpace::getLevel</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> <span class="keywordflow">return</span> level_;</div>
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span>}</div>
</div>
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> </div>
<div class="foldopen" id="foldopen00414" data-start="{" data-end="}">
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#a1e714523e61a75bd7c993cad7e0a9c8a"> 414</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a1e714523e61a75bd7c993cad7e0a9c8a">BundleSpace::setLevel</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> level)</div>
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span>{</div>
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span> level_ = level;</div>
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span>}</div>
</div>
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> </div>
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span><a class="code hl_class" href="classompl_1_1base_1_1OptimizationObjectivePtr.html">OptimizationObjectivePtr</a> BundleSpace::getOptimizationObjectivePtr()<span class="keyword"> const</span></div>
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->getOptimizationObjective();</div>
<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"> 422</span>}</div>
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> </div>
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span><span class="keywordtype">bool</span> BundleSpace::sampleBundleValid(<a class="code hl_class" href="classompl_1_1base_1_1State.html">State</a> *xRandom)</div>
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span>{</div>
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> <span class="keywordtype">bool</span> found = <span class="keyword">false</span>;</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> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> attempts = 0;</div>
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> <span class="keywordflow">do</span></div>
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> {</div>
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> sampleBundle(xRandom);</div>
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> found = <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->getStateValidityChecker()->isValid(xRandom);</div>
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> attempts++;</div>
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> } <span class="keywordflow">while</span> (attempts < <a class="code hl_variable" href="namespaceompl_1_1magic.html#a165c9405d5064e4101020d43163ec822">magic::FIND_VALID_STATE_ATTEMPTS_WITHOUT_TERMINATION_CHECK</a> && !found);</div>
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> <span class="keywordflow">return</span> found;</div>
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span>}</div>
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> </div>
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span><span class="keywordtype">void</span> BundleSpace::sampleBundle(State *xRandom)</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="keywordflow">if</span> (!<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#aaa343d7c86e2debc5cad8ba3e4936587">hasBaseSpace</a>())</div>
<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> {</div>
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> Bundle_sampler_->sampleUniform(xRandom);</div>
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> }</div>
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> <span class="keywordflow">else</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_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">getProjection</a>()-><a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a4f4b5a549278c0142c85722a6e3c9070">getCoDimension</a>() > 0)</div>
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> {</div>
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> <span class="comment">// Adjusted sampling function: Sampling in G0 x Fiber</span></div>
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a84a9b3481d9f8a285f932d4e7fbb97a5">getChild</a>()->sampleFromDatastructure(<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a6cc3d599af788bdffa7f8237a845cd9f">xBaseTmp_</a>);</div>
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">getProjection</a>()->lift(<a class="code hl_variable" href="classompl_1_1multilevel_1_1BundleSpace.html#a6cc3d599af788bdffa7f8237a845cd9f">xBaseTmp_</a>, xRandom);</div>
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> }</div>
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> {</div>
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a84a9b3481d9f8a285f932d4e7fbb97a5">getChild</a>()->sampleFromDatastructure(xRandom);</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> }</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> </div>
<div class="foldopen" id="foldopen00459" data-start="{" data-end="}">
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#a099f6d159a5c7367cfcd249091d1689f"> 459</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a099f6d159a5c7367cfcd249091d1689f">BundleSpace::lift</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *xBase, <a class="code hl_class" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *xBundle)<span class="keyword"> const</span></div>
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> projection_->lift(xBase, xBundle);</div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span>}</div>
</div>
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> </div>
<div class="foldopen" id="foldopen00464" data-start="{" data-end="}">
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#affd71932618b2f38873e9501c312d2b7"> 464</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#affd71932618b2f38873e9501c312d2b7">BundleSpace::project</a>(<span class="keyword">const</span> <a class="code hl_class" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *xBundle, <a class="code hl_class" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *xBase)<span class="keyword"> const</span></div>
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> projection_->project(xBundle, xBase);</div>
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span>}</div>
</div>
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> </div>
<div class="foldopen" id="foldopen00469" data-start="{" data-end="}">
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#aba53eb10bda696ee9ae962b5ff7a5bcb"> 469</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#aba53eb10bda696ee9ae962b5ff7a5bcb">BundleSpace::print</a>(std::ostream &out)<span class="keyword"> const</span></div>
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span> out << <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">getProjection</a>();</div>
<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span>}</div>
</div>
<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span> </div>
<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl.html">ompl</a></div>
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"> 475</span>{</div>
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"> 476</span> <span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl_1_1multilevel.html">multilevel</a></div>
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> {</div>
<div class="foldopen" id="foldopen00478" data-start="{" data-end="}">
<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html#aa299ea240cc4725948e56d2ae85c86dd"> 478</a></span> std::ostream &<a class="code hl_friend" href="classompl_1_1multilevel_1_1BundleSpace.html#aa299ea240cc4725948e56d2ae85c86dd">operator<<</a>(std::ostream &out, <span class="keyword">const</span> <a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#a6ea3b8ddd219e7827a78a81962ecc872">BundleSpace</a> &bundleSpace)</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> bundleSpace.<a class="code hl_function" href="classompl_1_1multilevel_1_1BundleSpace.html#aba53eb10bda696ee9ae962b5ff7a5bcb">print</a>(out);</div>
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"> 481</span> <span class="keywordflow">return</span> out;</div>
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> }</div>
</div>
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> } <span class="comment">// namespace multilevel</span></div>
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span>} <span class="comment">// namespace ompl</span></div>
<div class="ttc" id="aclassompl_1_1Exception_html"><div class="ttname"><a href="classompl_1_1Exception.html">ompl::Exception</a></div><div class="ttdoc">The exception type for ompl.</div><div class="ttdef"><b>Definition</b> <a href="Exception_8h_source.html#l00046">Exception.h:47</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CompoundStateSpace_html"><div class="ttname"><a href="classompl_1_1base_1_1CompoundStateSpace.html">ompl::base::CompoundStateSpace</a></div><div class="ttdoc">A space to allow the composition of state spaces.</div><div class="ttdef"><b>Definition</b> <a href="StateSpace_8h_source.html#l00573">StateSpace.h:574</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CompoundStateSpace_html_ad696fe7c77eed7ac104cba13f94f1b80"><div class="ttname"><a href="classompl_1_1base_1_1CompoundStateSpace.html#ad696fe7c77eed7ac104cba13f94f1b80">ompl::base::CompoundStateSpace::getSubspaces</a></div><div class="ttdeci">const std::vector< StateSpacePtr > & getSubspaces() const</div><div class="ttdoc">Get the list of components.</div><div class="ttdef"><b>Definition</b> <a href="StateSpace_8cpp_source.html#l00984">StateSpace.cpp:984</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1CompoundState_html"><div class="ttname"><a href="classompl_1_1base_1_1CompoundState.html">ompl::base::CompoundState</a></div><div class="ttdoc">Definition of a compound state.</div><div class="ttdef"><b>Definition</b> <a href="base_2State_8h_source.html#l00086">State.h:87</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Cost_html"><div class="ttname"><a href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a></div><div class="ttdoc">Definition of a cost value. Can represent the cost of a motion or the cost of a state.</div><div class="ttdef"><b>Definition</b> <a href="Cost_8h_source.html#l00047">Cost.h:48</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1DiscreteStateSpace_html_abff205c54f34ecc38118ba2ad9299f55"><div class="ttname"><a href="classompl_1_1base_1_1DiscreteStateSpace.html#abff205c54f34ecc38118ba2ad9299f55">ompl::base::DiscreteStateSpace::getLowerBound</a></div><div class="ttdeci">int getLowerBound() const</div><div class="ttdoc">Returns the lowest possible state.</div><div class="ttdef"><b>Definition</b> <a href="DiscreteStateSpace_8h_source.html#l00133">DiscreteStateSpace.h:133</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1GoalSampleableRegion_html"><div class="ttname"><a href="classompl_1_1base_1_1GoalSampleableRegion.html">ompl::base::GoalSampleableRegion</a></div><div class="ttdoc">Abstract definition of a goal region that can be sampled.</div><div class="ttdef"><b>Definition</b> <a href="GoalSampleableRegion_8h_source.html#l00047">GoalSampleableRegion.h:48</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1OptimizationObjectivePtr_html"><div class="ttname"><a href="classompl_1_1base_1_1OptimizationObjectivePtr.html">OptimizationObjectivePtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::OptimizationObjective.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PathPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1PathPtr.html">PathPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::Path.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerTerminationCondition_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a></div><div class="ttdoc">Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...</div><div class="ttdef"><b>Definition</b> <a href="PlannerTerminationCondition_8h_source.html#l00063">PlannerTerminationCondition.h:64</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_a0b254b9541d76d3b12889a799a864fdf"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#a0b254b9541d76d3b12889a799a864fdf">ompl::base::Planner::as</a></div><div class="ttdeci">T * as()</div><div class="ttdoc">Cast this instance to a desired type.</div><div class="ttdef"><b>Definition</b> <a href="Planner_8h_source.html#l00230">Planner.h:230</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_a6bbb3dcc3d1604977e319d52c16ef7e5"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">ompl::base::Planner::pdef_</a></div><div class="ttdeci">ProblemDefinitionPtr pdef_</div><div class="ttdoc">The user set problem definition.</div><div class="ttdef"><b>Definition</b> <a href="Planner_8h_source.html#l00404">Planner.h:404</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_a7929c12020a42b679601d22fb204919a"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#a7929c12020a42b679601d22fb204919a">ompl::base::Planner::clear</a></div><div class="ttdeci">virtual void clear()</div><div class="ttdoc">Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...</div><div class="ttdef"><b>Definition</b> <a href="Planner_8cpp_source.html#l00118">Planner.cpp:118</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_ab7e49fc3b3b7011d46d647d8f1603bd5"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#ab7e49fc3b3b7011d46d647d8f1603bd5">ompl::base::Planner::setup</a></div><div class="ttdeci">virtual void setup()</div><div class="ttdoc">Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...</div><div class="ttdef"><b>Definition</b> <a href="Planner_8cpp_source.html#l00092">Planner.cpp:92</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_add968ea14f1aa3d3bffc110da3e1d031"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#add968ea14f1aa3d3bffc110da3e1d031">ompl::base::Planner::setProblemDefinition</a></div><div class="ttdeci">virtual void setProblemDefinition(const ProblemDefinitionPtr &pdef)</div><div class="ttdoc">Set the problem definition for the planner. The problem needs to be set before calling solve()....</div><div class="ttdef"><b>Definition</b> <a href="Planner_8cpp_source.html#l00081">Planner.cpp:81</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ProblemDefinitionPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1ProblemDefinitionPtr.html">ProblemDefinitionPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::ProblemDefinition.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1RealVectorStateSpace_1_1StateType_html_a916575eb76687da3b47a2d9699128498"><div class="ttname"><a href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#a916575eb76687da3b47a2d9699128498">ompl::base::RealVectorStateSpace::StateType::values</a></div><div class="ttdeci">double * values</div><div class="ttdoc">The value of the actual vector in Rn.</div><div class="ttdef"><b>Definition</b> <a href="RealVectorStateSpace_8h_source.html#l00097">RealVectorStateSpace.h:97</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1SO3StateSpace_1_1StateType_html"><div class="ttname"><a href="classompl_1_1base_1_1SO3StateSpace_1_1StateType.html">ompl::base::SO3StateSpace::StateType</a></div><div class="ttdoc">The definition of a state in SO(3) represented as a unit quaternion.</div><div class="ttdef"><b>Definition</b> <a href="SO3StateSpace_8h_source.html#l00090">SO3StateSpace.h:91</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSamplerPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::StateSampler.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpacePtr_html"><div class="ttname"><a href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::StateSpace.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html"><div class="ttname"><a href="classompl_1_1base_1_1State.html">ompl::base::State</a></div><div class="ttdoc">Definition of an abstract state.</div><div class="ttdef"><b>Definition</b> <a href="base_2State_8h_source.html#l00049">State.h:50</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html_af1b51b919c418c1625ed42a3c36f2be2"><div class="ttname"><a href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">ompl::base::State::as</a></div><div class="ttdeci">const T * as() const</div><div class="ttdoc">Cast this instance to a desired type.</div><div class="ttdef"><b>Definition</b> <a href="base_2State_8h_source.html#l00066">State.h:66</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1SpaceInformationPtr_html"><div class="ttname"><a href="classompl_1_1control_1_1SpaceInformationPtr.html">SpaceInformationPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::control::SpaceInformation.</div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a08a0f9b8ac0beef5e112739f5f555f91"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a08a0f9b8ac0beef5e112739f5f555f91">ompl::multilevel::BundleSpace::counter_</a></div><div class="ttdeci">static unsigned int counter_</div><div class="ttdoc">Internal counter to track multiple bundle spaces.</div><div class="ttdef"><b>Definition</b> <a href="BundleSpace_8h_source.html#l00255">BundleSpace.h:255</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a099f6d159a5c7367cfcd249091d1689f"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a099f6d159a5c7367cfcd249091d1689f">ompl::multilevel::BundleSpace::lift</a></div><div class="ttdeci">void lift(const ompl::base::State *xBase, ompl::base::State *xBundle) const</div><div class="ttdoc">Lift a state from Base to Bundle.</div><div class="ttdef"><b>Definition</b> <a href="#l00459">BundleSpace.cpp:459</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a17bc273d461af6a05f9f5716dba47c24"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a17bc273d461af6a05f9f5716dba47c24">ompl::multilevel::BundleSpace::clear</a></div><div class="ttdeci">virtual void clear() override</div><div class="ttdoc">Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...</div><div class="ttdef"><b>Definition</b> <a href="#l00164">BundleSpace.cpp:164</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a1a70b5329364077bf6ba12e7a1061714"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">ompl::multilevel::BundleSpace::getProjection</a></div><div class="ttdeci">ProjectionPtr getProjection() const</div><div class="ttdoc">Get ProjectionPtr from Bundle to Base.</div><div class="ttdef"><b>Definition</b> <a href="#l00226">BundleSpace.cpp:226</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a1ba01182e7dfdbb61d69ee9496ac777e"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a1ba01182e7dfdbb61d69ee9496ac777e">ompl::multilevel::BundleSpace::isDynamic_</a></div><div class="ttdeci">bool isDynamic_</div><div class="ttdoc">If the problem is dynamic or geometric.</div><div class="ttdef"><b>Definition</b> <a href="BundleSpace_8h_source.html#l00268">BundleSpace.h:268</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a1e714523e61a75bd7c993cad7e0a9c8a"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a1e714523e61a75bd7c993cad7e0a9c8a">ompl::multilevel::BundleSpace::setLevel</a></div><div class="ttdeci">void setLevel(unsigned int)</div><div class="ttdoc">Change level in hierarchy.</div><div class="ttdef"><b>Definition</b> <a href="#l00414">BundleSpace.cpp:414</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a216568fc1c5fd366af120660eeb96f98"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a216568fc1c5fd366af120660eeb96f98">ompl::multilevel::BundleSpace::hasParent</a></div><div class="ttdeci">bool hasParent() const</div><div class="ttdoc">Return if has parent space pointer.</div><div class="ttdef"><b>Definition</b> <a href="#l00124">BundleSpace.cpp:124</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a37874b2ca0ca976b61da46c8e0f47e44"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a37874b2ca0ca976b61da46c8e0f47e44">ompl::multilevel::BundleSpace::setup</a></div><div class="ttdeci">virtual void setup() override</div><div class="ttdoc">Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...</div><div class="ttdef"><b>Definition</b> <a href="#l00134">BundleSpace.cpp:134</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a4134d7b54077ac0ef2d900e00016c4fa"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a4134d7b54077ac0ef2d900e00016c4fa">ompl::multilevel::BundleSpace::getBaseDimension</a></div><div class="ttdeci">unsigned int getBaseDimension() const</div><div class="ttdoc">Dimension of Base Space.</div><div class="ttdef"><b>Definition</b> <a href="#l00333">BundleSpace.cpp:333</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a428add084ed48c68645ee58cdc802f04"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a428add084ed48c68645ee58cdc802f04">ompl::multilevel::BundleSpace::isInfeasible</a></div><div class="ttdeci">virtual bool isInfeasible()</div><div class="ttdoc">Check if any infeasibility guarantees are fulfilled.</div><div class="ttdef"><b>Definition</b> <a href="#l00369">BundleSpace.cpp:369</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a454fb6c609dae1165257746519e374a0"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a454fb6c609dae1165257746519e374a0">ompl::multilevel::BundleSpace::setProjection</a></div><div class="ttdeci">void setProjection(ProjectionPtr projection)</div><div class="ttdoc">Set explicit projection (so that we do not need to guess.</div><div class="ttdef"><b>Definition</b> <a href="#l00216">BundleSpace.cpp:216</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a4f4b5a549278c0142c85722a6e3c9070"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a4f4b5a549278c0142c85722a6e3c9070">ompl::multilevel::BundleSpace::getCoDimension</a></div><div class="ttdeci">unsigned int getCoDimension() const</div><div class="ttdoc">Dimension of Bundle Space - Dimension of Base Space.</div><div class="ttdef"><b>Definition</b> <a href="#l00346">BundleSpace.cpp:346</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a4f51c437052d6760abc9f3736ab19749"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a4f51c437052d6760abc9f3736ab19749">ompl::multilevel::BundleSpace::setParent</a></div><div class="ttdeci">void setParent(BundleSpace *parent)</div><div class="ttdoc">Pointer to k+1 th bundle space (locally the total space).</div><div class="ttdef"><b>Definition</b> <a href="#l00404">BundleSpace.cpp:404</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a599e4b58a5ac98b67453352f263cb268"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a599e4b58a5ac98b67453352f263cb268">ompl::multilevel::BundleSpace::id_</a></div><div class="ttdeci">unsigned int id_</div><div class="ttdoc">Identity of space (to keep track of number of Bundle-spaces created).</div><div class="ttdef"><b>Definition</b> <a href="BundleSpace_8h_source.html#l00258">BundleSpace.h:258</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a59b0dd36930d0e1b6c418188b802a8c5"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a59b0dd36930d0e1b6c418188b802a8c5">ompl::multilevel::BundleSpace::getSolution</a></div><div class="ttdeci">virtual bool getSolution(ompl::base::PathPtr &solution)=0</div><div class="ttdoc">Return best solution.</div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a5ea7396973afee88972122c4afabac6b"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a5ea7396973afee88972122c4afabac6b">ompl::multilevel::BundleSpace::hasSolution_</a></div><div class="ttdeci">bool hasSolution_</div><div class="ttdoc">If there exists a solution.</div><div class="ttdef"><b>Definition</b> <a href="BundleSpace_8h_source.html#l00261">BundleSpace.h:261</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a6cc3d599af788bdffa7f8237a845cd9f"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a6cc3d599af788bdffa7f8237a845cd9f">ompl::multilevel::BundleSpace::xBaseTmp_</a></div><div class="ttdeci">ompl::base::State * xBaseTmp_</div><div class="ttdoc">A temporary state on Base.</div><div class="ttdef"><b>Definition</b> <a href="BundleSpace_8h_source.html#l00250">BundleSpace.h:250</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a6ea3b8ddd219e7827a78a81962ecc872"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a6ea3b8ddd219e7827a78a81962ecc872">ompl::multilevel::BundleSpace::BundleSpace</a></div><div class="ttdeci">BundleSpace(const ompl::base::SpaceInformationPtr &si, BundleSpace *baseSpace_=nullptr)</div><div class="ttdoc">Bundle Space contains three primary characters, the bundle space, the base space and the projection.</div><div class="ttdef"><b>Definition</b> <a href="#l00060">BundleSpace.cpp:60</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a84a9b3481d9f8a285f932d4e7fbb97a5"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a84a9b3481d9f8a285f932d4e7fbb97a5">ompl::multilevel::BundleSpace::getChild</a></div><div class="ttdeci">BundleSpace * getChild() const</div><div class="ttdoc">Return k-1 th bundle space (locally the base space).</div><div class="ttdef"><b>Definition</b> <a href="#l00389">BundleSpace.cpp:389</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a8a014cc299498f875efa2acafab5ce5d"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">ompl::multilevel::BundleSpace::getBundle</a></div><div class="ttdeci">const ompl::base::SpaceInformationPtr & getBundle() const</div><div class="ttdoc">Get SpaceInformationPtr for Bundle.</div><div class="ttdef"><b>Definition</b> <a href="#l00323">BundleSpace.cpp:323</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a91bf5b33ea846104f518823a8cc5fc12"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a91bf5b33ea846104f518823a8cc5fc12">ompl::multilevel::BundleSpace::resetCounter</a></div><div class="ttdeci">static void resetCounter()</div><div class="ttdoc">reset counter for number of levels</div><div class="ttdef"><b>Definition</b> <a href="#l00211">BundleSpace.cpp:211</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a96f6bee45ab1ac1c3fd9b176bfa3864a"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a96f6bee45ab1ac1c3fd9b176bfa3864a">ompl::multilevel::BundleSpace::makeProjection</a></div><div class="ttdeci">bool makeProjection()</div><div class="ttdoc">Given bundle space and base space, try to guess the right.</div><div class="ttdef"><b>Definition</b> <a href="#l00101">BundleSpace.cpp:101</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_aa217a6f17d9fdc6c56c36ba4d6007f62"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#aa217a6f17d9fdc6c56c36ba4d6007f62">ompl::multilevel::BundleSpace::allocIdentityStateBundle</a></div><div class="ttdeci">ompl::base::State * allocIdentityStateBundle() const</div><div class="ttdoc">Allocate State, set entries to Identity/Zero.</div><div class="ttdef"><b>Definition</b> <a href="#l00313">BundleSpace.cpp:313</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_aa299ea240cc4725948e56d2ae85c86dd"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#aa299ea240cc4725948e56d2ae85c86dd">ompl::multilevel::BundleSpace::operator<<</a></div><div class="ttdeci">friend std::ostream & operator<<(std::ostream &, const BundleSpace &)</div><div class="ttdoc">Write class to stream (use as std::cout << *this << std::endl).</div><div class="ttdef"><b>Definition</b> <a href="#l00478">BundleSpace.cpp:478</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_aa7e322a2fb1cc44b5e511af0c307b5bf"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#aa7e322a2fb1cc44b5e511af0c307b5bf">ompl::multilevel::BundleSpace::getParent</a></div><div class="ttdeci">BundleSpace * getParent() const</div><div class="ttdoc">Return k+1 th bundle space (locally the total space).</div><div class="ttdef"><b>Definition</b> <a href="#l00399">BundleSpace.cpp:399</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_aaa343d7c86e2debc5cad8ba3e4936587"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#aaa343d7c86e2debc5cad8ba3e4936587">ompl::multilevel::BundleSpace::hasBaseSpace</a></div><div class="ttdeci">bool hasBaseSpace() const</div><div class="ttdoc">Return if has base space pointer.</div><div class="ttdef"><b>Definition</b> <a href="#l00114">BundleSpace.cpp:114</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_aad021dc8123f1f11e21a52c6d59ccd38"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#aad021dc8123f1f11e21a52c6d59ccd38">ompl::multilevel::BundleSpace::getBundleDimension</a></div><div class="ttdeci">unsigned int getBundleDimension() const</div><div class="ttdoc">Dimension of Bundle Space.</div><div class="ttdef"><b>Definition</b> <a href="#l00341">BundleSpace.cpp:341</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_ab5942a757c6f9c570862c915ae590b06"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#ab5942a757c6f9c570862c915ae590b06">ompl::multilevel::BundleSpace::setProblemDefinition</a></div><div class="ttdeci">virtual void setProblemDefinition(const ompl::base::ProblemDefinitionPtr &pdef) override</div><div class="ttdoc">Set the problem definition for the planner. The problem needs to be set before calling solve()....</div><div class="ttdef"><b>Definition</b> <a href="#l00206">BundleSpace.cpp:206</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_ab617487432aef17eb637116caefded54"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#ab617487432aef17eb637116caefded54">ompl::multilevel::BundleSpace::hasConverged</a></div><div class="ttdeci">virtual bool hasConverged()</div><div class="ttdoc">Check if the current space can still be sampled.</div><div class="ttdef"><b>Definition</b> <a href="#l00374">BundleSpace.cpp:374</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_aba53eb10bda696ee9ae962b5ff7a5bcb"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#aba53eb10bda696ee9ae962b5ff7a5bcb">ompl::multilevel::BundleSpace::print</a></div><div class="ttdeci">virtual void print(std::ostream &out) const</div><div class="ttdoc">Internal function implementing actual printing to stream.</div><div class="ttdef"><b>Definition</b> <a href="#l00469">BundleSpace.cpp:469</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_ac7cd7fdb6f7bbca9a2e299e6ab46b463"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#ac7cd7fdb6f7bbca9a2e299e6ab46b463">ompl::multilevel::BundleSpace::firstRun_</a></div><div class="ttdeci">bool firstRun_</div><div class="ttdoc">Variable to check if this bundle space planner has been run at.</div><div class="ttdef"><b>Definition</b> <a href="BundleSpace_8h_source.html#l00265">BundleSpace.h:265</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_acc7c2e44883e7bd04de3d9da59c2a19f"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#acc7c2e44883e7bd04de3d9da59c2a19f">ompl::multilevel::BundleSpace::setChild</a></div><div class="ttdeci">void setChild(BundleSpace *child)</div><div class="ttdoc">Pointer to k-1 th bundle space (locally the base space).</div><div class="ttdef"><b>Definition</b> <a href="#l00394">BundleSpace.cpp:394</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_accfc2324063c811f90fe48f848e3adff"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#accfc2324063c811f90fe48f848e3adff">ompl::multilevel::BundleSpace::sanityChecks</a></div><div class="ttdeci">void sanityChecks() const</div><div class="ttdoc">Check if Bundle-space has correct structure.</div><div class="ttdef"><b>Definition</b> <a href="#l00174">BundleSpace.cpp:174</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_ad177a04e74804b84ea405c10b7b3d62d"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#ad177a04e74804b84ea405c10b7b3d62d">ompl::multilevel::BundleSpace::checkBundleSpaceMeasure</a></div><div class="ttdeci">void checkBundleSpaceMeasure(std::string name, const ompl::base::StateSpacePtr space) const</div><div class="ttdoc">Check if Bundle-space is bounded.</div><div class="ttdef"><b>Definition</b> <a href="#l00190">BundleSpace.cpp:190</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_ad2a30b7eb53ad4831b2399d0584cbb65"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#ad2a30b7eb53ad4831b2399d0584cbb65">ompl::multilevel::BundleSpace::xBundleTmp_</a></div><div class="ttdeci">ompl::base::State * xBundleTmp_</div><div class="ttdoc">A temporary state on Bundle.</div><div class="ttdef"><b>Definition</b> <a href="BundleSpace_8h_source.html#l00252">BundleSpace.h:252</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_ad73cb9a191ea10d3e8db62ec0c3fbfc5"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#ad73cb9a191ea10d3e8db62ec0c3fbfc5">ompl::multilevel::BundleSpace::getBase</a></div><div class="ttdeci">const ompl::base::SpaceInformationPtr & getBase() const</div><div class="ttdoc">Get SpaceInformationPtr for Base.</div><div class="ttdef"><b>Definition</b> <a href="#l00328">BundleSpace.cpp:328</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_afed3a77b33d3e6d24016f06b0b577feb"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#afed3a77b33d3e6d24016f06b0b577feb">ompl::multilevel::BundleSpace::getLevel</a></div><div class="ttdeci">unsigned int getLevel() const</div><div class="ttdoc">Level in hierarchy of Bundle-spaces.</div><div class="ttdef"><b>Definition</b> <a href="#l00409">BundleSpace.cpp:409</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_affd71932618b2f38873e9501c312d2b7"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#affd71932618b2f38873e9501c312d2b7">ompl::multilevel::BundleSpace::project</a></div><div class="ttdeci">void project(const ompl::base::State *xBundle, ompl::base::State *xBase) const</div><div class="ttdoc">Bundle Space Projection Operator onto first component ProjectBase: Bundle \rightarrow Base.</div><div class="ttdef"><b>Definition</b> <a href="#l00464">BundleSpace.cpp:464</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1ProjectionFactory_html"><div class="ttname"><a href="classompl_1_1multilevel_1_1ProjectionFactory.html">ompl::multilevel::ProjectionFactory</a></div><div class="ttdef"><b>Definition</b> <a href="ProjectionFactory_8h_source.html#l00061">ProjectionFactory.h:62</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1ProjectionFactory_html_addde2f3b26c4e7d673efb467577f6ec8"><div class="ttname"><a href="classompl_1_1multilevel_1_1ProjectionFactory.html#addde2f3b26c4e7d673efb467577f6ec8">ompl::multilevel::ProjectionFactory::makeProjection</a></div><div class="ttdeci">ProjectionPtr makeProjection(const base::SpaceInformationPtr &Bundle, const base::SpaceInformationPtr &Base)</div><div class="ttdoc">Guess projection(s) between two SpaceInformationPtr Bundle and Base.</div></div>
<div class="ttc" id="agroup__logging_html_ga05ad3ae88188e7f248748785afd2b882"><div class="ttname"><a href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a></div><div class="ttdeci">#define OMPL_ERROR(fmt,...)</div><div class="ttdoc">Log a formatted error string.</div><div class="ttdef"><b>Definition</b> <a href="Console_8h_source.html#l00064">Console.h:64</a></div></div>
<div class="ttc" id="agroup__logging_html_ga576d0bc79b521f19c5415f330e2b173d"><div class="ttname"><a href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a></div><div class="ttdeci">#define OMPL_DEBUG(fmt,...)</div><div class="ttdoc">Log a formatted debugging string.</div><div class="ttdef"><b>Definition</b> <a href="Console_8h_source.html#l00070">Console.h:70</a></div></div>
<div class="ttc" id="anamespaceompl_1_1base_html"><div class="ttname"><a href="namespaceompl_1_1base.html">ompl::base</a></div><div class="ttdoc">This namespace contains sampling based planning routines shared by both planning under geometric cons...</div><div class="ttdef"><b>Definition</b> <a href="ConstrainedSpaceInformation_8h_source.html#l00054">ConstrainedSpaceInformation.h:55</a></div></div>
<div class="ttc" id="anamespaceompl_1_1base_html_a056b022e14fe04a75f81789947353920a56b36a6f5b0a8ae48be0baa7e348def3"><div class="ttname"><a href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920a56b36a6f5b0a8ae48be0baa7e348def3">ompl::base::STATE_SPACE_DISCRETE</a></div><div class="ttdeci">@ STATE_SPACE_DISCRETE</div><div class="ttdoc">ompl::base::DiscreteStateSpace</div><div class="ttdef"><b>Definition</b> <a href="StateSpaceTypes_8h_source.html#l00070">StateSpaceTypes.h:70</a></div></div>
<div class="ttc" id="anamespaceompl_1_1base_html_a056b022e14fe04a75f81789947353920abb95f16481daa006d055bad7060b8fbb"><div class="ttname"><a href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920abb95f16481daa006d055bad7060b8fbb">ompl::base::STATE_SPACE_REAL_VECTOR</a></div><div class="ttdeci">@ STATE_SPACE_REAL_VECTOR</div><div class="ttdoc">ompl::base::RealVectorStateSpace</div><div class="ttdef"><b>Definition</b> <a href="StateSpaceTypes_8h_source.html#l00052">StateSpaceTypes.h:52</a></div></div>
<div class="ttc" id="anamespaceompl_1_1base_html_a056b022e14fe04a75f81789947353920aca07fe8d9ce9fe45ad5d1b2d90c8c1fc"><div class="ttname"><a href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920aca07fe8d9ce9fe45ad5d1b2d90c8c1fc">ompl::base::STATE_SPACE_SO2</a></div><div class="ttdeci">@ STATE_SPACE_SO2</div><div class="ttdoc">ompl::base::SO2StateSpace</div><div class="ttdef"><b>Definition</b> <a href="StateSpaceTypes_8h_source.html#l00055">StateSpaceTypes.h:55</a></div></div>
<div class="ttc" id="anamespaceompl_1_1base_html_a056b022e14fe04a75f81789947353920ae9ec8f7cf5204246a32a44768d843fb1"><div class="ttname"><a href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920ae9ec8f7cf5204246a32a44768d843fb1">ompl::base::STATE_SPACE_SO3</a></div><div class="ttdeci">@ STATE_SPACE_SO3</div><div class="ttdoc">ompl::base::SO3StateSpace</div><div class="ttdef"><b>Definition</b> <a href="StateSpaceTypes_8h_source.html#l00058">StateSpaceTypes.h:58</a></div></div>
<div class="ttc" id="anamespaceompl_1_1base_html_a056b022e14fe04a75f81789947353920afc515ecf796d311c9ae7ae879fb63158"><div class="ttname"><a href="namespaceompl_1_1base.html#a056b022e14fe04a75f81789947353920afc515ecf796d311c9ae7ae879fb63158">ompl::base::STATE_SPACE_TIME</a></div><div class="ttdeci">@ STATE_SPACE_TIME</div><div class="ttdoc">ompl::base::TimeStateSpace</div><div class="ttdef"><b>Definition</b> <a href="StateSpaceTypes_8h_source.html#l00067">StateSpaceTypes.h:67</a></div></div>
<div class="ttc" id="anamespaceompl_1_1magic_html_a165c9405d5064e4101020d43163ec822"><div class="ttname"><a href="namespaceompl_1_1magic.html#a165c9405d5064e4101020d43163ec822">ompl::magic::FIND_VALID_STATE_ATTEMPTS_WITHOUT_TERMINATION_CHECK</a></div><div class="ttdeci">static const unsigned int FIND_VALID_STATE_ATTEMPTS_WITHOUT_TERMINATION_CHECK</div><div class="ttdoc">Maximum number of sampling attempts to find a valid state, without checking whether the allowed time ...</div><div class="ttdef"><b>Definition</b> <a href="MagicConstants_8h_source.html#l00095">MagicConstants.h:95</a></div></div>
<div class="ttc" id="anamespaceompl_1_1multilevel_html"><div class="ttname"><a href="namespaceompl_1_1multilevel.html">ompl::multilevel</a></div><div class="ttdoc">This namespace contains datastructures and planners to exploit multilevel abstractions,...</div><div class="ttdef"><b>Definition</b> <a href="MultiLevelPlanarManipulatorDemo_8cpp_source.html#l00067">MultiLevelPlanarManipulatorDemo.cpp:68</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition</b> <a href="MultiLevelPlanarManipulatorDemo_8cpp_source.html#l00065">MultiLevelPlanarManipulatorDemo.cpp:66</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div><div class="ttdoc">A class to store the exit status of Planner::solve().</div><div class="ttdef"><b>Definition</b> <a href="PlannerStatus_8h_source.html#l00048">PlannerStatus.h:49</a></div></div>
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