FindSectionSideStep.h

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/* Author: Andreas Orthey */
 
#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_RESTRICTION_FIND_SECTION_SIDESTEP_
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_RESTRICTION_FIND_SECTION_SIDESTEP_
#include <ompl/multilevel/datastructures/pathrestriction/FindSection.h>
 
namespace ompl
{
    namespace multilevel
    {
        class FindSectionSideStep : public FindSection
        {
            using BaseT = FindSection;
 
        public:
            FindSectionSideStep() = delete;
            FindSectionSideStep(PathRestriction *);
 
            virtual ~FindSectionSideStep();
 
            virtual bool solve(HeadPtr &head) override;
 
            bool recursiveSideStep(HeadPtr &head, bool interpolateFiberFirst = true, unsigned int depth = 0);
        };
    }
}
 
#endif