-
Notifications
You must be signed in to change notification settings - Fork 1
Expand file tree
/
Copy pathConstrainedPlanningImplicitChain_8cpp_source.html
More file actions
627 lines (625 loc) · 79.8 KB
/
ConstrainedPlanningImplicitChain_8cpp_source.html
File metadata and controls
627 lines (625 loc) · 79.8 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
<!-- HTML header for doxygen 1.14.0-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US" class="light-mode">
<head>
<meta name="color-scheme" content="light">
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
<meta name="generator" content="Doxygen 1.16.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>ompl: demos/constraint/ConstrainedPlanningImplicitChain.cpp Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<script type="text/javascript" src="clipboard.js"></script>
<script type="text/javascript" src="cookie.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
$(function() { init_search(); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
<link href="ompl.css" rel="stylesheet" type="text/css"/>
<link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/css/bootstrap.min.css" integrity="sha384-ggOyR0iXCbMQv3Xipma34MD+dH/1fQ784/j6cY/iJTQUOhcWr7x9JvoRxT2MZw1T" crossorigin="anonymous">
<link href="ompl.css" rel="stylesheet">
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<nav class="navbar navbar-expand-md fixed-top navbar-dark">
<a class="navbar-brand" href="./index.html">OMPL</a>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbar">
<span class="navbar-toggler-icon"></span>
</button>
<div class="collapse navbar-collapse" id="navbar">
<ul class="navbar-nav mr-auto">
<li class="nav-item"><a class="nav-link" href="download.html">Download</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="docDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Documentation</a>
<div class="dropdown-menu" aria-labelledby="docDropdown">
<a class="dropdown-item" href="https://ompl.kavrakilab.org/OMPL_Primer.pdf">Primer</a>
<a class="dropdown-item" href="installation.html">Installation</a>
<a class="dropdown-item" href="tutorials.html">Tutorials</a>
<a class="dropdown-item" href="demos.html">Demos</a>
<a class="dropdown-item" href="python.html">Python Bindings</a>
<a class="dropdown-item" href="planners.html">Available Planners</a>
<a class="dropdown-item" href="plannerTerminationConditions.html">Planner Termination Conditions</a>
<a class="dropdown-item" href="benchmark.html">Benchmarking Planners</a>
<a class="dropdown-item" href="spaces.html">Available State Spaces</a>
<a class="dropdown-item" href="optimalPlanning.html">Optimal Planning</a>
<a class="dropdown-item" href="constrainedPlanning.html">Constrained Planning</a>
<a class="dropdown-item" href="multiLevelPlanning.html">Multilevel Planning</a>
<a class="dropdown-item" href="FAQ.html">FAQ</a>
<div class="dropdown-divider"></div>
<div class="dropdown-header">External links</div>
<a class="dropdown-item" href="http://moveit.ros.org">MoveIt</a>
<a class="dropdown-item" href="http://plannerarena.org">Planner Arena</a>
<a class="dropdown-item" href="https://moveit.ros.org//moveit!/ros/2013/05/07/icra-motion-planning-tutorial.html">ICRA 2013 Tutorial</a>
<a class="dropdown-item" href="http://kavrakilab.org/iros2011/">IROS 2011 Tutorial</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="gallery.html">Gallery</a></li>
<li class="nav-item"><a class="nav-link" href="integration.html">OMPL Integrations</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="codeDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Code</a>
<div class="dropdown-menu" aria-labelledby="codeDropdown">
<a class="dropdown-item" href="api_overview.html">API Overview</a>
<a class="dropdown-item" href="annotated.html">Classes</a>
<a class="dropdown-item" href="files.html">Files</a>
<a class="dropdown-item" href="styleGuide.html">Style Guide</a>
<a class="dropdown-item" href="https://github.com/ompl/ompl">OMPL on GitHub</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="https://github.com/ompl/ompl/issues">Issues</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="communityDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Community</a>
<div class="dropdown-menu" aria-labelledby="communityDropdown">
<a class="dropdown-item" href="support.html">Get Support</a>
<a class="dropdown-item" href="developers.html">Developers/Contributors</a>
<a class="dropdown-item" href="contrib.html">Submit a Contribution</a>
</div>
</li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="aboutDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">About</a>
<div class="dropdown-menu" aria-labelledby="aboutDropdown">
<a class="dropdown-item" href="license.html">License</a>
<a class="dropdown-item" href="citations.html">Citations</a>
<a class="dropdown-item" href="acknowledgements.html">Acknowledgments</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="https://ompl.kavrakilab.org/blog.html">Blog</a></li>
</ul>
<div id="MSearchBox" class="MSearchBoxInactive">
<span class="left">
<span id="MSearchSelect" class="search-icon" onmouseover="return searchBox.OnSearchSelectShow()" onmouseout="return searchBox.OnSearchSelectHide()"><span class="search-icon-dropdown"></span></span>
<input type="text" id="MSearchField" value="" placeholder="Search" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"
onkeyup="searchBox.OnSearchFieldChange(event)"/>
</span><span class="right">
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><div id="MSearchCloseImg" class="close-icon"></div></a>
</span>
</div>
</div>
</nav>
<div class="container" role="main">
<div>
<!-- Generated by Doxygen 1.16.1 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search/",'.html');
</script>
<script type="text/javascript">
$(function() { codefold.init(); });
</script>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<div id="MSearchResults">
<div class="SRPage">
<div id="SRIndex">
<div id="SRResults"></div>
<div class="SRStatus" id="Loading">Loading...</div>
<div class="SRStatus" id="Searching">Searching...</div>
<div class="SRStatus" id="NoMatches">No Matches</div>
</div>
</div>
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><b>demos</b></li><li class="navelem"><b>constraint</b></li> </ul>
</div>
</div><!-- top -->
<div id="doc-content">
<div class="header">
<div class="headertitle"><div class="title">ConstrainedPlanningImplicitChain.cpp</div></div>
</div><!--header-->
<div class="contents">
<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) 2018, Rice University</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * All rights reserved.</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> *</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * are met:</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> *</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"> * with the distribution.</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment"> * * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment"> *</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span><span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="comment"> *********************************************************************/</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="comment">/* Author: Zachary Kingston */</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include "ConstrainedPlanningCommon.h"</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="keyword">class </span>ChainConstraint : <span class="keyword">public</span> <a class="code hl_class" href="classompl_1_1base_1_1Constraint.html">ob::Constraint</a></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span>{</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">class </span>Wall</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> {</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> <span class="keyword">public</span>:</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> Wall(<span class="keywordtype">double</span> offset, <span class="keywordtype">double</span> thickness, <span class="keywordtype">double</span> width, <span class="keywordtype">double</span> joint_radius, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> type)</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> : offset_(offset), thickness_(thickness + joint_radius), width_(width + joint_radius), type_(type)</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</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></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <span class="keywordtype">bool</span> within(<span class="keywordtype">double</span> x)<span class="keyword"> const</span></div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keywordflow">return</span> !(x < (offset_ - thickness_) || x > (offset_ + thickness_));</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> }</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> </div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <span class="keywordtype">bool</span> checkJoint(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &v)<span class="keyword"> const</span></div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keywordtype">double</span> x = v[0], y = v[1], z = v[2];</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> </div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <span class="keywordflow">if</span> (!within(x))</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> </div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keywordflow">if</span> (z <= width_)</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> {</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keywordflow">switch</span> (type_)</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> {</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keywordflow">case</span> 0:</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keywordflow">if</span> (y < 0)</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> </div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keywordflow">case</span> 1:</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <span class="keywordflow">if</span> (y > 0)</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> }</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> }</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</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> </div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <span class="keyword">private</span>:</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="keyword">const</span> <span class="keywordtype">double</span> offset_;</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="keyword">const</span> <span class="keywordtype">double</span> thickness_;</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keyword">const</span> <span class="keywordtype">double</span> width_;</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> type_;</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> };</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> </div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keyword">const</span> <span class="keywordtype">double</span> WALL_WIDTH = 0.5;</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keyword">const</span> <span class="keywordtype">double</span> JOINT_RADIUS = 0.2;</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <span class="keyword">const</span> <span class="keywordtype">double</span> LINK_LENGTH = 1.0;</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> </div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> ChainConstraint(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> links, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> obstacles = 0, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> extra = 1)</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> : ob::Constraint(3 * links, links + extra)</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> , links_(links)</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> , length_(LINK_LENGTH)</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> , width_(WALL_WIDTH)</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> , radius_(links - 2)</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> , jointRadius_(JOINT_RADIUS)</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> , obstacles_(obstacles)</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> , extra_(extra)</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="keywordtype">double</span> step = 2 * radius_ / (double)(obstacles_ + 1);</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <span class="keywordtype">double</span> current = -radius_ + step;</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> </div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < obstacles_; i++, current += step)</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> walls_.emplace_back(current, radius_ / 8, WALL_WIDTH, JOINT_RADIUS, i % 2);</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> }</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> </div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordtype">void</span> function(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::VectorXd> out)<span class="keyword"> const override</span></div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> Eigen::VectorXd joint1 = Eigen::VectorXd::Zero(3);</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < links_; i++)</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> <span class="keyword">auto</span> &&joint2 = x.segment(3 * i, 3);</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> out[i] = (joint1 - joint2).norm() - length_;</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> joint1 = joint2;</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> }</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> <span class="keywordflow">if</span> (extra_ >= 1)</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> out[links_] = x.tail(3).norm() - radius_;</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="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> o = links_ - 5;</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> (extra_ >= 2)</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> out[links_ + 1] = x[(o + 0) * 3 + 2] - x[(o + 1) * 3 + 2];</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keywordflow">if</span> (extra_ >= 3)</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> out[links_ + 2] = x[(o + 1) * 3 + 0] - x[(o + 2) * 3 + 0];</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="keywordflow">if</span> (extra_ >= 4)</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> out[links_ + 3] = x[(o + 2) * 3 + 2] - x[(o + 3) * 3 + 2];</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="keywordtype">void</span> jacobian(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::MatrixXd> out)<span class="keyword"> const override</span></div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> out.setZero();</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> </div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> Eigen::VectorXd plus(3 * (links_ + 1));</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> plus.head(3 * links_) = x.segment(0, 3 * links_);</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> plus.tail(3) = Eigen::VectorXd::Zero(3);</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> </div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> Eigen::VectorXd minus(3 * (links_ + 1));</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> minus.head(3) = Eigen::VectorXd::Zero(3);</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> minus.tail(3 * links_) = x.segment(0, 3 * links_);</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> </div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keyword">auto</span> &&diagonal = plus - minus;</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> </div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < links_; i++)</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> out.row(i).segment(3 * i + 0, 3) = diagonal.segment(3 * i, 3).normalized();</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> out.block(1, 0, links_ - 1, 3 * links_ - 3) -= out.block(1, 3, links_ - 1, 3 * links_ - 3);</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> </div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordflow">if</span> (extra_ >= 1)</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> out.row(links_).tail(3) = -diagonal.tail(3).normalized().transpose();</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> </div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> o = links_ - 5;</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> </div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordflow">if</span> (extra_ >= 2)</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> {</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> out(links_ + 1, (o + 0) * 3 + 2) = 1;</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> out(links_ + 1, (o + 1) * 3 + 2) = -1;</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> }</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keywordflow">if</span> (extra_ >= 3)</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> {</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> out(links_ + 2, (o + 1) * 3 + 0) = 1;</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> out(links_ + 2, (o + 2) * 3 + 0) = -1;</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">if</span> (extra_ >= 4)</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> out(links_ + 3, (o + 2) * 3 + 2) = 1;</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> out(links_ + 3, (o + 3) * 3 + 2) = -1;</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> }</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> }</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span></div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <span class="keywordtype">bool</span> isValid(<span class="keyword">const</span> ob::State *state)</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> {</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <span class="keyword">auto</span> &&x = *state-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_typedef" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ob::ConstrainedStateSpace::StateType</a>>();</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> </div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < links_; i++)</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> {</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keyword">auto</span> &&joint = x.segment(3 * i, 3);</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keywordflow">if</span> (joint[2] < 0)</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keywordflow">return</span> <span class="keyword">false</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> <span class="keywordflow">if</span> (joint.norm() >= (radius_ - jointRadius_))</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> wall : walls_)</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keywordflow">if</span> (!wall.checkJoint(joint))</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> }</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> </div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < links_ - 1; i++)</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> <span class="keyword">auto</span> &&joint1 = x.segment(3 * i, 3);</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keywordflow">if</span> (joint1.cwiseAbs().maxCoeff() < jointRadius_)</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> </div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = i + 1; j < links_; j++)</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> {</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keyword">auto</span> &&joint2 = x.segment(3 * j, 3);</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <span class="keywordflow">if</span> ((joint1 - joint2).cwiseAbs().maxCoeff() < jointRadius_)</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</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 class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> }</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> </div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> ob::StateSpacePtr createSpace()<span class="keyword"> const</span></div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keyword">auto</span> rvss = std::make_shared<ob::RealVectorStateSpace>(3 * links_);</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> ob::RealVectorBounds bounds(3 * links_);</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> </div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < (int)links_; ++i)</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> bounds.setLow(3 * i + 0, -i - 1);</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> bounds.setHigh(3 * i + 0, i + 1);</div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> </div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> bounds.setLow(3 * i + 1, -i - 1);</div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> bounds.setHigh(3 * i + 1, i + 1);</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> </div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> bounds.setLow(3 * i + 2, -i - 1);</div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> bounds.setHigh(3 * i + 2, i + 1);</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> </div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> rvss->setBounds(bounds);</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> <span class="keywordflow">return</span> rvss;</div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> }</div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> </div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="keywordtype">void</span> setStartAndGoalStates(Eigen::VectorXd &start, Eigen::VectorXd &goal)<span class="keyword"> const</span></div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> start = Eigen::VectorXd(3 * links_);</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> goal = Eigen::VectorXd(3 * links_);</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="keywordtype">int</span> i = 0;</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> <span class="keywordflow">for</span> (; i < (int)links_ - 3; ++i)</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> {</div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> start[3 * i] = i + 1;</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> start[3 * i + 1] = 0;</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> start[3 * i + 2] = 0;</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> goal[3 * i] = -(i + 1);</div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> goal[3 * i + 1] = 0;</div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> goal[3 * i + 2] = 0;</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> }</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> </div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> start[3 * i] = i;</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> start[3 * i + 1] = -1;</div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> start[3 * i + 2] = 0;</div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> </div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> goal[3 * i] = -i;</div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> goal[3 * i + 1] = 1;</div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> goal[3 * i + 2] = 0;</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> </div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> i++;</div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> </div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> start[3 * i] = i;</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> start[3 * i + 1] = -1;</div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> start[3 * i + 2] = 0;</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> </div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> goal[3 * i] = -i;</div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> goal[3 * i + 1] = 1;</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> goal[3 * i + 2] = 0;</div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> </div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> i++;</div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> </div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> start[3 * i] = i - 1;</div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> start[3 * i + 1] = 0;</div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> start[3 * i + 2] = 0;</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> goal[3 * i] = -(i - 1);</div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> goal[3 * i + 1] = 0;</div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> goal[3 * i + 2] = 0;</div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> }</div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span></div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> ob::ProjectionEvaluatorPtr getProjection(ob::StateSpacePtr space)<span class="keyword"> const</span></div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> <span class="keyword">class </span>ChainProjection : <span class="keyword">public</span> ob::ProjectionEvaluator</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> {</div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> <span class="keyword">public</span>:</div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> ChainProjection(<span class="keyword">const</span> ob::StateSpacePtr &space, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> links, <span class="keywordtype">double</span> radius)</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> : ob::ProjectionEvaluator(space), links_(links), radius_(radius)</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> {</div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> }</div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> </div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getDimension()<span class="keyword"> const override</span></div>
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> <span class="keywordflow">return</span> 2;</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="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> <span class="keywordtype">void</span> defaultCellSizes()<span class="keyword"> override</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> cellSizes_.resize(2);</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> cellSizes_[0] = 0.1;</div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> cellSizes_[1] = 0.1;</div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> }</div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> </div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="keywordtype">void</span> project(<span class="keyword">const</span> ob::State *state, Eigen::Ref<Eigen::VectorXd> projection)<span class="keyword"> const override</span></div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> <span class="keyword">auto</span> &&x = *state-><a class="code hl_function" href="classompl_1_1base_1_1State.html#af1b51b919c418c1625ed42a3c36f2be2">as</a><<a class="code hl_typedef" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ob::ConstrainedStateSpace::StateType</a>>();</div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> s = 3 * (links_ - 1);</div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> </div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> projection(0) = atan2(x[s + 1], x[s]);</div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> projection(1) = acos(x[s + 2] / radius_);</div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> }</div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> </div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <span class="keyword">private</span>:</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> links_; <span class="comment">// Number of chain links.</span></div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="keywordtype">double</span> radius_; <span class="comment">// Radius of sphere end-effector lies on (for extra = 1)</span></div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> };</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> </div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> <span class="keywordflow">return</span> std::make_shared<ChainProjection>(space, links_, radius_);</div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> }</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> </div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keywordtype">void</span> dump(std::ofstream &file)<span class="keyword"> const</span></div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> file << links_ << std::endl;</div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> file << obstacles_ << std::endl;</div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> file << extra_ << std::endl;</div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> file << jointRadius_ << std::endl;</div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> file << length_ << std::endl;</div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> file << radius_ << std::endl;</div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> file << width_ << std::endl;</div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> }</div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> </div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <span class="keywordtype">void</span> addBenchmarkParameters(ot::Benchmark *bench)<span class="keyword"> const</span></div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> bench-><a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#afab48f173edc785ee005301642b1afb1">addExperimentParameter</a>(<span class="stringliteral">"links"</span>, <span class="stringliteral">"INTEGER"</span>, std::to_string(links_));</div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> bench-><a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#afab48f173edc785ee005301642b1afb1">addExperimentParameter</a>(<span class="stringliteral">"obstacles"</span>, <span class="stringliteral">"INTEGER"</span>, std::to_string(obstacles_));</div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> bench-><a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#afab48f173edc785ee005301642b1afb1">addExperimentParameter</a>(<span class="stringliteral">"extra"</span>, <span class="stringliteral">"INTEGER"</span>, std::to_string(extra_));</div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> }</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="keyword">private</span>:</div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> links_; <span class="comment">// Number of chain links.</span></div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> <span class="keyword">const</span> <span class="keywordtype">double</span> length_; <span class="comment">// Length of one link.</span></div>
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> <span class="keyword">const</span> <span class="keywordtype">double</span> width_; <span class="comment">// Width of obstacle wall.</span></div>
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> <span class="keyword">const</span> <span class="keywordtype">double</span> radius_; <span class="comment">// Radius of the sphere that the end effector is constrained to.</span></div>
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> <span class="keyword">const</span> <span class="keywordtype">double</span> jointRadius_; <span class="comment">// Size of joints</span></div>
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> obstacles_; <span class="comment">// Number of obstacles on sphere surface</span></div>
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> extra_; <span class="comment">// Number of extra constraints</span></div>
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> std::vector<Wall> walls_; <span class="comment">// Obstacles</span></div>
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span>};</div>
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> </div>
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span><span class="keywordtype">bool</span> chainPlanningOnce(<a class="code hl_class" href="classConstrainedProblem.html">ConstrainedProblem</a> &cp, <span class="keyword">enum</span> PLANNER_TYPE planner, <span class="keywordtype">bool</span> output)</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> cp.setPlanner(planner, <span class="stringliteral">"chain"</span>);</div>
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> </div>
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> <span class="comment">// Solve the problem</span></div>
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> <a class="code hl_struct" href="structompl_1_1base_1_1PlannerStatus.html">ob::PlannerStatus</a> stat = cp.solveOnce(output, <span class="stringliteral">"chain"</span>);</div>
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> </div>
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> <span class="keywordflow">if</span> (output)</div>
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> {</div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Dumping problem information to `chain_info.txt`."</span>);</div>
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> std::ofstream infofile(<span class="stringliteral">"chain_info.txt"</span>);</div>
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> infofile << cp.type << std::endl;</div>
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> <span class="keyword">dynamic_cast<</span>ChainConstraint *<span class="keyword">></span>(cp.constraint.get())->dump(infofile);</div>
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> infofile.close();</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> </div>
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> cp.atlasStats();</div>
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> </div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> <span class="keywordflow">return</span> stat;</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> </div>
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span><span class="keywordtype">bool</span> chainPlanningBench(<a class="code hl_class" href="classConstrainedProblem.html">ConstrainedProblem</a> &cp, std::vector<enum PLANNER_TYPE> &planners)</div>
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span>{</div>
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> cp.setupBenchmark(planners, <span class="stringliteral">"chain"</span>);</div>
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> </div>
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> <span class="keyword">auto</span> chain = <span class="keyword">dynamic_cast<</span>ChainConstraint *<span class="keyword">></span>(cp.constraint.get());</div>
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> chain->addBenchmarkParameters(cp.bench);</div>
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> </div>
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> cp.runBenchmark();</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> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span>}</div>
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> </div>
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span><span class="keywordtype">bool</span> chainPlanning(<span class="keywordtype">bool</span> output, <span class="keyword">enum</span> SPACE_TYPE space, std::vector<enum PLANNER_TYPE> &planners, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> links,</div>
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> obstacles, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> extra, <span class="keyword">struct</span> <a class="code hl_struct" href="structConstrainedOptions.html">ConstrainedOptions</a> &c_opt,</div>
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> <span class="keyword">struct</span> <a class="code hl_struct" href="structAtlasOptions.html">AtlasOptions</a> &a_opt, <span class="keywordtype">bool</span> bench)</div>
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span>{</div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> <span class="comment">// Create a shared pointer to our constraint.</span></div>
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> <span class="keyword">auto</span> constraint = std::make_shared<ChainConstraint>(links, obstacles, extra);</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> <a class="code hl_class" href="classConstrainedProblem.html">ConstrainedProblem</a> cp(space, constraint->createSpace(), constraint);</div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> cp.setConstrainedOptions(c_opt);</div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> cp.setAtlasOptions(a_opt);</div>
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> </div>
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> cp.css->registerProjection(<span class="stringliteral">"chain"</span>, constraint->getProjection(cp.css));</div>
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> </div>
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span> Eigen::VectorXd start, goal;</div>
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> constraint->setStartAndGoalStates(start, goal);</div>
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span> </div>
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> cp.setStartAndGoalStates(start, goal);</div>
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span> cp.ss->setStateValidityChecker(std::bind(&ChainConstraint::isValid, constraint, std::placeholders::_1));</div>
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span> </div>
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> <span class="keywordflow">if</span> (!bench)</div>
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> <span class="keywordflow">return</span> chainPlanningOnce(cp, planners[0], output);</div>
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> <span class="keywordflow">return</span> chainPlanningBench(cp, planners);</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="keyword">auto</span> help_msg = <span class="stringliteral">"Shows this help message."</span>;</div>
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span><span class="keyword">auto</span> output_msg = <span class="stringliteral">"Dump found solution path (if one exists) in plain text to `chain_path.txt`. "</span></div>
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> <span class="stringliteral">"Problem information is dumped to `chain_info`.txt"</span>;</div>
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span><span class="keyword">auto</span> links_msg = <span class="stringliteral">"Number of links in the kinematic chain. Minimum is 4."</span>;</div>
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span><span class="keyword">auto</span> obstacles_msg = <span class="stringliteral">"Number of `wall' obstacles on the surface of the sphere. Ranges from [0, 2]"</span>;</div>
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span><span class="keyword">auto</span> extra_msg = <span class="stringliteral">"Number of extra constraints to add to the chain. Extra constraints are as follows:\n"</span></div>
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> <span class="stringliteral">"1: End-effector is constrained to be on the surface of a sphere of radius links - 2\n"</span></div>
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> <span class="stringliteral">"2: (links-5)th and (links-4)th ball have the same z-value\n"</span></div>
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> <span class="stringliteral">"3: (links-4)th and (links-3)th ball have the same x-value\n"</span></div>
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> <span class="stringliteral">"4: (links-3)th and (links-2)th ball have the same z-value"</span>;</div>
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span><span class="keyword">auto</span> bench_msg = <span class="stringliteral">"Do benchmarking on provided planner list."</span>;</div>
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> </div>
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)</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">bool</span> output, bench;</div>
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> <span class="keyword">enum</span> SPACE_TYPE space = PJ;</div>
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span> std::vector<enum PLANNER_TYPE> planners = {RRT};</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> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> links = 5;</div>
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> obstacles = 0;</div>
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> extra = 1;</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="keyword">struct </span><a class="code hl_struct" href="structConstrainedOptions.html">ConstrainedOptions</a> c_opt;</div>
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> <span class="keyword">struct </span><a class="code hl_struct" href="structAtlasOptions.html">AtlasOptions</a> a_opt;</div>
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> </div>
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> po::options_description desc(<span class="stringliteral">"Options"</span>);</div>
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> desc.add_options()(<span class="stringliteral">"help,h"</span>, help_msg);</div>
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> desc.add_options()(<span class="stringliteral">"output,o"</span>, po::bool_switch(&output)->default_value(<span class="keyword">false</span>), output_msg);</div>
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> desc.add_options()(<span class="stringliteral">"links,l"</span>, po::value<unsigned int>(&links)->default_value(5), links_msg);</div>
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> desc.add_options()(<span class="stringliteral">"obstacles,x"</span>, po::value<unsigned int>(&obstacles)->default_value(0), obstacles_msg);</div>
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> desc.add_options()(<span class="stringliteral">"extra,e"</span>, po::value<unsigned int>(&extra)->default_value(1), extra_msg);</div>
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> desc.add_options()(<span class="stringliteral">"bench"</span>, po::bool_switch(&bench)->default_value(<span class="keyword">false</span>), bench_msg);</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> addSpaceOption(desc, &space);</div>
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> addPlannerOption(desc, &planners);</div>
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> addConstrainedOptions(desc, &c_opt);</div>
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> addAtlasOptions(desc, &a_opt);</div>
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> </div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> po::variables_map vm;</div>
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> po::store(po::parse_command_line(argc, argv, desc), vm);</div>
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> po::notify(vm);</div>
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> </div>
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> <span class="keywordflow">if</span> (vm.count(<span class="stringliteral">"help"</span>) != 0u)</div>
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span> {</div>
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> std::cout << desc << std::endl;</div>
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span> <span class="keywordflow">return</span> 1;</div>
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> }</div>
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span> </div>
<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span> chainPlanning(output, space, planners, links, obstacles, extra, c_opt, a_opt, bench);</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="keywordflow">return</span> 0;</div>
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"> 475</span>}</div>
<div class="ttc" id="aclassConstrainedProblem_html"><div class="ttname"><a href="classConstrainedProblem.html">ConstrainedProblem</a></div><div class="ttdef"><b>Definition</b> <a href="ConstrainedPlanningCommon_8h_source.html#l00254">ConstrainedPlanningCommon.h:255</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Constraint_html"><div class="ttname"><a href="classompl_1_1base_1_1Constraint.html">ompl::base::Constraint</a></div><div class="ttdoc">Definition of a differentiable holonomic constraint on a configuration space. See Constrained Plannin...</div><div class="ttdef"><b>Definition</b> <a href="Constraint_8h_source.html#l00075">Constraint.h:76</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a358860aabda701b73fb0fe01cbdfb0d3"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::StateSpace::StateType</a></div><div class="ttdeci">ompl::base::State StateType</div><div class="ttdoc">Define the type of state allocated by this space.</div><div class="ttdef"><b>Definition</b> <a href="StateSpace_8h_source.html#l00078">StateSpace.h:78</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_1tools_1_1Benchmark_html_afab48f173edc785ee005301642b1afb1"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#afab48f173edc785ee005301642b1afb1">ompl::tools::Benchmark::addExperimentParameter</a></div><div class="ttdeci">void addExperimentParameter(const std::string &name, const std::string &type, const std::string &value)</div><div class="ttdoc">Add an optional parameter's information to the benchmark output. Useful for aggregating results over ...</div><div class="ttdef"><b>Definition</b> <a href="Benchmark_8cpp_source.html#l00208">Benchmark.cpp:208</a></div></div>
<div class="ttc" id="agroup__logging_html_ga04bc36d1b8c57ad7e13a8a48451a3a05"><div class="ttname"><a href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a></div><div class="ttdeci">#define OMPL_INFORM(fmt,...)</div><div class="ttdoc">Log a formatted information string.</div><div class="ttdef"><b>Definition</b> <a href="Console_8h_source.html#l00068">Console.h:68</a></div></div>
<div class="ttc" id="astructAtlasOptions_html"><div class="ttname"><a href="structAtlasOptions.html">AtlasOptions</a></div><div class="ttdef"><b>Definition</b> <a href="ConstrainedPlanningCommon_8h_source.html#l00211">ConstrainedPlanningCommon.h:212</a></div></div>
<div class="ttc" id="astructConstrainedOptions_html"><div class="ttname"><a href="structConstrainedOptions.html">ConstrainedOptions</a></div><div class="ttdef"><b>Definition</b> <a href="ConstrainedPlanningCommon_8h_source.html#l00177">ConstrainedPlanningCommon.h:178</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>
</div><!-- fragment --></div><!-- contents -->
</div>
<footer class="footer">
<div class="container">
<a href="http://www.kavrakilab.org">Kavraki Lab</a> •
<a href="https://www.cs.rice.edu">Department of Computer Science</a> •
<a href="https://www.rice.edu">Rice University</a><br/>
Funded in part by the <a href="https://www.nsf.gov">National Science Foundation</a><br/>
Documentation generated by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.16.1
</div>
</footer>
<script>
(function(i,s,o,g,r,a,m){i['GoogleAnalyticsObject']=r;i[r]=i[r]||function(){
(i[r].q=i[r].q||[]).push(arguments)},i[r].l=1*new Date();a=s.createElement(o),
m=s.getElementsByTagName(o)[0];a.async=1;a.src=g;m.parentNode.insertBefore(a,m)
})(window,document,'script','//www.google-analytics.com/analytics.js','ga');
ga('create', 'UA-9156598-2', 'auto');
ga('send', 'pageview');
</script>
<script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js" integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1" crossorigin="anonymous"></script>
<script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
</body>
</html>