PathSection.h

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/* Author: Andreas Orthey */
 
#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_SECTION__
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_SECTION__
#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
#include <ompl/util/ClassForward.h>
 
namespace ompl
{
    namespace multilevel
    {
 
        OMPL_CLASS_FORWARD(PathRestriction);
        OMPL_CLASS_FORWARD(Head);
 
        class PathSection
        {
        public:
            using Configuration = ompl::multilevel::BundleSpaceGraph::Configuration;
 
            PathSection() = delete;
            PathSection(PathRestriction *);
            virtual ~PathSection();
 
            void interpolateL2(HeadPtr &);
 
            void interpolateL1FiberFirst(HeadPtr &);
 
            void interpolateL1FiberLast(HeadPtr &);
 
            bool checkMotion(HeadPtr &);
 
            void sanityCheck();
            void sanityCheck(HeadPtr &);
 
            base::State *at(int k) const;
            const base::State *back() const;
            const base::State *front() const;
            unsigned int size() const;
 
            Configuration *addFeasibleSegment(Configuration *xLast, base::State *sNext);
 
            void addFeasibleGoalSegment(Configuration *xLast, Configuration *xGoal);
 
            friend std::ostream &operator<<(std::ostream &, const PathSection &);
 
            void print(std::ostream &) const;
 
        protected:
            PathRestriction *restriction_;
 
            std::vector<base::State *> section_;
 
            std::vector<int> sectionBaseStateIndices_;
 
            std::pair<base::State *, double> lastValid_;
 
            int lastValidIndexOnBasePath_;
 
            base::State *xBaseTmp_{nullptr};
            base::State *xBundleTmp_{nullptr};
 
            base::State *xFiberStart_{nullptr};
            base::State *xFiberGoal_{nullptr};
            base::State *xFiberTmp_{nullptr};
        };
    }
}
#endif