FindSection.h

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/* Author: Andreas Orthey */
 
#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_RESTRICTION_FIND_SECTION_
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_RESTRICTION_FIND_SECTION_
#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
#include <ompl/multilevel/datastructures/ParameterExponentialDecay.h>
#include <ompl/multilevel/datastructures/ParameterSmoothStep.h>
 
namespace ompl
{
    namespace base
    {
 
        OMPL_CLASS_FORWARD(Path);
    }
    namespace geometric
    {
 
        OMPL_CLASS_FORWARD(PathGeometric);
    }
    namespace multilevel
    {
 
        OMPL_CLASS_FORWARD(BundleSpaceGraph);
        OMPL_CLASS_FORWARD(PathRestriction);
        OMPL_CLASS_FORWARD(FiberedProjection);
        OMPL_CLASS_FORWARD(Head);
 
        using Configuration = ompl::multilevel::BundleSpaceGraph::Configuration;
 
        class FindSection
        {
        public:
            FindSection() = delete;
            FindSection(PathRestriction *);
 
            virtual ~FindSection();
 
            virtual bool solve(HeadPtr &head) = 0;
 
            bool findFeasibleStateOnFiber(const base::State *xBase, base::State *xBundle);
 
            bool tripleStep(HeadPtr &head, const base::State *sBundleGoal, double locationOnBasePathGoal);
 
        protected:
            PathRestriction *restriction_;
 
            base::State *xBaseTmp_{nullptr};
            base::State *xBundleTmp_{nullptr};
 
            base::State *xFiberStart_{nullptr};
            base::State *xFiberGoal_{nullptr};
            base::State *xFiberTmp_{nullptr};
 
        protected:
            ParameterExponentialDecay neighborhoodRadiusBaseSpace_;
 
            double neighborhoodRadiusBaseSpaceLambda_{1.0};
 
            double neighborhoodRadiusBaseSpaceTarget_{0.5};
 
            double validBaseSpaceSegmentLength_;
 
            double validBundleSpaceSegmentLength_;
 
            double validFiberSpaceSegmentLength_;
        };
    }
}
 
#endif