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<div class="title">BundleSpaceGraph.cpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Copyright (c) 2019, University of Stuttgart</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a 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 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 name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> *</span></div>
<div class="line"><a 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 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 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 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 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 name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * * Neither the name of the University of Stuttgart nor the names</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * derived from this software without specific prior written</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * permission.</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> *********************************************************************/</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment">/* Author: Andreas Orthey */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/PlannerDataVertexAnnotated.h></span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/BundleSpaceGraph.h></span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/src/BundleSpaceGraphGoalVisitor.hpp></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/Projection.h></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/graphsampler/RandomVertex.h></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/graphsampler/RandomDegreeVertex.h></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/graphsampler/RandomEdge.h></span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/importance/Greedy.h></span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/importance/Exponential.h></span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/importance/Uniform.h></span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/metrics/Geodesic.h></span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/propagators/Geometric.h></span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/pathrestriction/PathRestriction.h></span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="preprocessor">#include <ompl/geometric/PathSimplifier.h></span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="preprocessor">#include <ompl/base/goals/GoalSampleableRegion.h></span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="preprocessor">#include <ompl/base/objectives/PathLengthOptimizationObjective.h></span></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="preprocessor">#include <ompl/base/objectives/MaximizeMinClearanceObjective.h></span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="preprocessor">#include <ompl/datastructures/PDF.h></span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="preprocessor">#include <ompl/tools/config/SelfConfig.h></span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="preprocessor">#include <ompl/tools/config/MagicConstants.h></span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="preprocessor">#include <ompl/util/Exception.h></span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="preprocessor">#include <ompl/control/SpaceInformation.h></span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="preprocessor">#include <ompl/datastructures/NearestNeighborsSqrtApprox.h></span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  </div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="preprocessor">#include <boost/graph/astar_search.hpp></span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="preprocessor">#include <boost/graph/incremental_components.hpp></span></div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="preprocessor">#include <boost/graph/graphviz.hpp></span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="preprocessor">#include <boost/property_map/vector_property_map.hpp></span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="preprocessor">#include <boost/property_map/transform_value_property_map.hpp></span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  </div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="preprocessor">#include <boost/foreach.hpp></span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  </div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="preprocessor">#define foreach BOOST_FOREACH</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="keyword">using</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> = <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">ompl::multilevel::BundleSpaceGraph::Configuration</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="keyword">using namespace </span><a class="code" href="namespaceompl_1_1multilevel.html">ompl::multilevel</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> BundleSpaceGraph::BundleSpaceGraph(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">ompl::base::SpaceInformationPtr</a> &si, <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *parent_) : BaseT(si, parent_)</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> {</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#a99bb12c016b06563aab6bba5cdbed01e">setName</a>(<span class="stringliteral">"BundleSpaceGraph"</span>);</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="comment">// Functional primitives</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  setMetric(<span class="stringliteral">"geodesic"</span>);</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  setGraphSampler(<span class="stringliteral">"randomvertex"</span>);</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  setImportance(<span class="stringliteral">"uniform"</span>);</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  setFindSectionStrategy(FindSectionType::SIDE_STEP);</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  </div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordflow">if</span> (isDynamic())</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  {</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  setPropagator(<span class="stringliteral">"dynamic"</span>);</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  }</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  {</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  setPropagator(<span class="stringliteral">"geometric"</span>);</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  }</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  </div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">specs_</a>.<a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#ac8a946673fef335d7a802d9ee8436804">recognizedGoal</a> = <a class="code" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9">base::GOAL_SAMPLEABLE_REGION</a>;</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">specs_</a>.<a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#ae2facc9260851b161577e36f5a4baefc">approximateSolutions</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">specs_</a>.<a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#a83869b1cd49a91e29b0b926188402a0a">optimizingPaths</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  Planner::declareParam<double>(<span class="stringliteral">"range"</span>, <span class="keyword">this</span>, &BundleSpaceGraph::setRange, &BundleSpaceGraph::getRange, <span class="stringliteral">"0.:1.:"</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="stringliteral">"10000."</span>);</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  </div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  Planner::declareParam<double>(<span class="stringliteral">"goal_bias"</span>, <span class="keyword">this</span>, &BundleSpaceGraph::setGoalBias, &BundleSpaceGraph::getGoalBias,</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="stringliteral">"0.:.1:1."</span>);</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  </div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  xRandom_ = <span class="keyword">new</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>());</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> }</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  </div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> BundleSpaceGraph::~BundleSpaceGraph()</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> {</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  deleteConfiguration(<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4be6d823b2f6505f431f81371da21b71">xRandom_</a>);</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> }</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  </div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aea0627bc0ebdff95891bb194b0dd0bd4"> 116</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aea0627bc0ebdff95891bb194b0dd0bd4">BundleSpaceGraph::setup</a>()</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> {</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a37874b2ca0ca976b61da46c8e0f47e44">BaseT::setup</a>();</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  </div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <a class="code" href="classompl_1_1tools_1_1SelfConfig.html">ompl::tools::SelfConfig</a> sc(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>(), <a class="code" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>());</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  sc.<a class="code" href="classompl_1_1tools_1_1SelfConfig.html#a65bff53ea4bc6f158342a856175ab9a6">configurePlannerRange</a>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">maxDistance_</a>);</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  </div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <a class="code" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Range distance graph sampling: %f (max extent %f)"</span>, <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">maxDistance_</a>, <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->getMaximumExtent());</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  </div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>)</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  {</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordflow">if</span> (!isDynamic())</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  {</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>.reset(tools::SelfConfig::getDefaultNearestNeighbors<Configuration *>(<span class="keyword">this</span>));</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  }</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  {</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="comment">// for dynamical systems, we use a quasimetric</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="comment">//(non-symmetric metric), so we cannot use NN structures like GNAT</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>.reset(<span class="keyword">new</span> <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html">NearestNeighborsSqrtApprox<Configuration *></a>());</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  }</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>->setDistanceFunction(</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  [<span class="keyword">this</span>](<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *a, <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *b) { <span class="keywordflow">return</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aabdbde642d2e9c07bd5abbaaa09d6058">distance</a>(a, b); });</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  }</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  </div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#aaa343d7c86e2debc5cad8ba3e4936587">hasBaseSpace</a>() && <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">getProjection</a>()->isFibered())</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  {</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a12496e82768deed7d92ab381215f17f7">pathRestriction_</a> = std::make_shared<PathRestriction>(<span class="keyword">this</span>);</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  }</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  </div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>)</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  {</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#adba44a4ee27079c5b258a2ebed719eed">setup_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  </div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac873a6ed1b139ec1924367e6a1664eea">optimizer_</a> = std::make_shared<ompl::geometric::PathSimplifier>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>(), <a class="code" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">pdef_</a>->getGoal(),</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  getOptimizationObjectivePtr());</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac873a6ed1b139ec1924367e6a1664eea">optimizer_</a>->freeStates(<span class="keyword">false</span>);</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  }</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  {</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#adba44a4ee27079c5b258a2ebed719eed">setup_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  }</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> }</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  </div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">void</span> BundleSpaceGraph::setFindSectionStrategy(FindSectionType type)</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> {</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a12496e82768deed7d92ab381215f17f7">pathRestriction_</a> != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  {</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a12496e82768deed7d92ab381215f17f7">pathRestriction_</a>->setFindSectionStrategy(type);</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  }</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span> }</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  </div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#acea8da5111cfdeeb3e22abbd2e739bb8"> 168</a></span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#acea8da5111cfdeeb3e22abbd2e739bb8">BundleSpaceGraph::findSection</a>()</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span> {</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#aaa343d7c86e2debc5cad8ba3e4936587">hasBaseSpace</a>() && <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">getProjection</a>()->isFibered())</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  {</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  base::PathPtr basePath = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html">BundleSpaceGraph</a> *<span class="keyword">></span>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a84a9b3481d9f8a285f932d4e7fbb97a5">getChild</a>())->getSolutionPathByReference();</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a12496e82768deed7d92ab381215f17f7">pathRestriction_</a>->setBasePath(basePath);</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  </div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a12496e82768deed7d92ab381215f17f7">pathRestriction_</a>->hasFeasibleSection(<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ad31a65e949a577f98d7ca68edb6a2016">qStart_</a>, <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a479b71d3dbd5b64fe6d01f7bfd4960cd">qGoal_</a>))</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  {</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordflow">if</span> (sameComponent(vStart_, <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a479b71d3dbd5b64fe6d01f7bfd4960cd">qGoal_</a>-><a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a21747759c6e5715675df75abd5decaa2">index</a>))</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  {</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a5ea7396973afee88972122c4afabac6b">hasSolution_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  }</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  }</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  }</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> }</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  </div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a28fa657a77354663740fc808ce370a45"> 187</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a28fa657a77354663740fc808ce370a45">BundleSpaceGraph::clear</a>()</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> {</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a17bc273d461af6a05f9f5716dba47c24">BaseT::clear</a>();</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  </div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  clearVertices();</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.<a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#ae66b7f462e2a76da5342cdc0dbf75482">restart</a>();</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  </div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aeb851be0a372c930fcb4e49cc3b7c63a">graphLength_</a> = 0;</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a6137b49fdfdd7b1fa78c4062f5134779">bestCost_</a> = <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a>(base::dInf);</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <a class="code" href="classompl_1_1base_1_1Planner.html#adba44a4ee27079c5b258a2ebed719eed">setup_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  vStart_ = 0;</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  shortestVertexPath_.clear();</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  </div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a72948dc2cf1723e52cc691c2ef7a3119">startConfigurations_</a>.clear();</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">goalConfigurations_</a>.clear();</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  </div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">if</span> (!isDynamic())</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  {</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keywordflow">if</span> (solutionPath_ != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  {</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  std::static_pointer_cast<geometric::PathGeometric>(solutionPath_)->clear();</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  }</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  }</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  </div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  numVerticesWhenComputingSolutionPath_ = 0;</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  </div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0ff33279b454b1b78eb68f136b8d4b63">importanceCalculator_</a>->clear();</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0d9698226aaed8c3b3224da08820a30e">graphSampler_</a>->clear();</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a12496e82768deed7d92ab381215f17f7">pathRestriction_</a> != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  {</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a12496e82768deed7d92ab381215f17f7">pathRestriction_</a>->clear();</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  }</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> }</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  </div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span> <span class="keywordtype">void</span> BundleSpaceGraph::clearVertices()</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> {</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>)</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  {</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  std::vector<Configuration *> configs;</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>->list(configs);</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &config : configs)</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  {</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  deleteConfiguration(config);</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  }</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>->clear();</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  }</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  graph_.clear();</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span> }</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  </div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span> <span class="keywordtype">void</span> BundleSpaceGraph::setGoalBias(<span class="keywordtype">double</span> goalBias)</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span> {</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4df8b0de73fc4288c525d83eae82c03b">goalBias_</a> = goalBias;</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> }</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  </div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span> <span class="keywordtype">double</span> BundleSpaceGraph::getGoalBias()<span class="keyword"> const</span></div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4df8b0de73fc4288c525d83eae82c03b">goalBias_</a>;</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> }</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  </div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span> <span class="keywordtype">void</span> BundleSpaceGraph::setRange(<span class="keywordtype">double</span> maxDistance)</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> {</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">maxDistance_</a> = maxDistance;</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span> }</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  </div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span> <span class="keywordtype">double</span> BundleSpaceGraph::getRange()<span class="keyword"> const</span></div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">maxDistance_</a>;</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> }</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  </div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span> BundleSpaceGraph::Configuration::Configuration(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">ompl::base::SpaceInformationPtr</a> &si) : state(si->allocState())</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span> {</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span> }</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span> BundleSpaceGraph::Configuration::Configuration(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">ompl::base::SpaceInformationPtr</a> &si,</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *state_)</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  : state(si->cloneState(state_))</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> {</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> }</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  </div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> <span class="keywordtype">void</span> BundleSpaceGraph::deleteConfiguration(<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *q)</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> {</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="keywordflow">if</span> (q != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  {</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordflow">if</span> (q->state != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  {</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->freeState(q->state);</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  }</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < q->reachableSet.size(); k++)</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  {</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *qk = q->reachableSet.at(k);</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="keywordflow">if</span> (qk->state != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  {</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->freeState(qk->state);</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  }</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  }</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <span class="keywordflow">if</span> (isDynamic())</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  {</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1SpaceInformationPtr.html">ompl::control::SpaceInformationPtr</a> siC =</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  std::static_pointer_cast<ompl::control::SpaceInformation>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>());</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  siC->freeControl(q->control);</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  }</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  q->reachableSet.clear();</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  </div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <span class="keyword">delete</span> q;</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  q = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  }</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span> }</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  </div>
<div class="line"><a name="l00294"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a508896ae80998fd7d6d55e35ed6a5bf2"> 294</a></span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a508896ae80998fd7d6d55e35ed6a5bf2">BundleSpaceGraph::getImportance</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0ff33279b454b1b78eb68f136b8d4b63">importanceCalculator_</a>->eval();</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span> }</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  </div>
<div class="line"><a name="l00299"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a64c5ecaccc7e38fbc0e80deabafb7e82"> 299</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a64c5ecaccc7e38fbc0e80deabafb7e82">BundleSpaceGraph::init</a>()</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> {</div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  <span class="keywordflow">if</span> (<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *state = <a class="code" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.<a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a42a3a7bdbbe09caf937e57785ee97d51">nextStart</a>())</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  {</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ad31a65e949a577f98d7ca68edb6a2016">qStart_</a> = <span class="keyword">new</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>(), state);</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  vStart_ = <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2e30391590cc20b303bf132a94f414e5">addConfiguration</a>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ad31a65e949a577f98d7ca68edb6a2016">qStart_</a>);</div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ad31a65e949a577f98d7ca68edb6a2016">qStart_</a>->isStart = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  }</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  </div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ad31a65e949a577f98d7ca68edb6a2016">qStart_</a> == <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  {</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: There are no valid initial states!"</span>, <a class="code" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"Invalid initial states."</span>);</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  }</div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  </div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  <span class="keywordflow">if</span> (<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *state = <a class="code" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">pis_</a>.<a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#ae8ea1c2fd3e0e92dbc289a79dd597c98">nextGoal</a>())</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  {</div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a479b71d3dbd5b64fe6d01f7bfd4960cd">qGoal_</a> = <span class="keyword">new</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>(), state);</div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a479b71d3dbd5b64fe6d01f7bfd4960cd">qGoal_</a>->isGoal = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  }</div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  </div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a479b71d3dbd5b64fe6d01f7bfd4960cd">qGoal_</a> == <span class="keyword">nullptr</span> && getGoalPtr()->canSample())</div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  {</div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"%s: There are no valid goal states!"</span>, <a class="code" href="classompl_1_1base_1_1Planner.html#a9bdea814a817637bd8e6f959c65ceaf9">getName</a>().c_str());</div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"Invalid goal states."</span>);</div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  }</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span> }</div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  </div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span> <span class="keywordtype">void</span> BundleSpaceGraph::uniteComponents(Vertex m1, Vertex m2)</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span> {</div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  disjointSets_.union_set(m1, m2);</div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span> }</div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  </div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span> <span class="keywordtype">bool</span> BundleSpaceGraph::sameComponent(Vertex m1, Vertex m2)</div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span> {</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  <span class="keywordflow">return</span> boost::same_component(m1, m2, disjointSets_);</div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span> }</div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  </div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span> <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">BundleSpaceGraph::Configuration</a> *BundleSpaceGraph::nearest(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *q)<span class="keyword"> const</span></div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>->nearest(<span class="keyword">const_cast<</span><a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *<span class="keyword">></span>(q));</div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span> }</div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  </div>
<div class="line"><a name="l00342"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a960aec96f564afb73a395cd4e7bbb747"> 342</a></span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">BundleSpaceGraph::Configuration</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a960aec96f564afb73a395cd4e7bbb747">BundleSpaceGraph::addBundleConfiguration</a>(<a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *state)</div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span> {</div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *x = <span class="keyword">new</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>(), state);</div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2e30391590cc20b303bf132a94f414e5">addConfiguration</a>(x);</div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  <span class="keywordflow">return</span> x;</div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span> }</div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  </div>
<div class="line"><a name="l00349"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aa9a011d8547380113d1fb2c2b414489d"> 349</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aa9a011d8547380113d1fb2c2b414489d">BundleSpaceGraph::addBundleEdge</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *a, <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *b)</div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span> {</div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a55c5d6431a21d6c8b772b81cdc8a67fa">addEdge</a>(a-><a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a21747759c6e5715675df75abd5decaa2">index</a>, b-><a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a21747759c6e5715675df75abd5decaa2">index</a>);</div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span> }</div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  </div>
<div class="line"><a name="l00354"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2e30391590cc20b303bf132a94f414e5"> 354</a></span> BundleSpaceGraph::Vertex <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2e30391590cc20b303bf132a94f414e5">BundleSpaceGraph::addConfiguration</a>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *q)</div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span> {</div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  Vertex m = boost::add_vertex(q, graph_);</div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  graph_[m]->total_connection_attempts = 1;</div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  graph_[m]->successful_connection_attempts = 0;</div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  disjointSets_.make_set(m);</div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  </div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>->add(q);</div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  q-><a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a21747759c6e5715675df75abd5decaa2">index</a> = m;</div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  </div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  <span class="keywordflow">return</span> m;</div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span> }</div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  </div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> BundleSpaceGraph::getNumberOfVertices()<span class="keyword"> const</span></div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  <span class="keywordflow">return</span> num_vertices(graph_);</div>
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span> }</div>
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  </div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> BundleSpaceGraph::getNumberOfEdges()<span class="keyword"> const</span></div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  <span class="keywordflow">return</span> num_edges(graph_);</div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span> }</div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  </div>
<div class="line"><a name="l00377"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#abc285cc6e0ec45d14b382fd1f024c0e6"> 377</a></span> <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a8297847c10b1e8fde38b1da21086f11f">BundleSpaceGraph::Graph</a> &<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#abc285cc6e0ec45d14b382fd1f024c0e6">BundleSpaceGraph::getGraph</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  <span class="keywordflow">return</span> graph_;</div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span> }</div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  </div>
<div class="line"><a name="l00382"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a9d6d602ce41aad13816d921f614f475b"> 382</a></span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a8297847c10b1e8fde38b1da21086f11f">BundleSpaceGraph::Graph</a> &<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a9d6d602ce41aad13816d921f614f475b">BundleSpaceGraph::getGraphNonConst</a>()</div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span> {</div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <span class="keywordflow">return</span> graph_;</div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span> }</div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  </div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span> <span class="keyword">const</span> BundleSpaceGraph::RoadmapNeighborsPtr &BundleSpaceGraph::getRoadmapNeighborsPtr()<span class="keyword"> const</span></div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>;</div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span> }</div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  </div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span> <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> BundleSpaceGraph::costHeuristic(Vertex u, Vertex v)<span class="keyword"> const</span></div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  <span class="keywordflow">return</span> getOptimizationObjectivePtr()->motionCostHeuristic(graph_[u]->state, graph_[v]->state);</div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span> }</div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  </div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span> <span class="keyword">template</span> <<span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keyword">class </span>NN></div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span> <span class="keywordtype">void</span> BundleSpaceGraph::setNearestNeighbors()</div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span> {</div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a> && <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>->size() == 0)</div>
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  <a class="code" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"Calling setNearestNeighbors will clear all states."</span>);</div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a28fa657a77354663740fc808ce370a45">clear</a>();</div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a> = std::make_shared<NN<base::State *>>();</div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1base_1_1Planner.html#a00d2469147e0a4f38cee18c97f19dbfc">isSetup</a>())</div>
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  {</div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aea0627bc0ebdff95891bb194b0dd0bd4">setup</a>();</div>
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  }</div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span> }</div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  </div>
<div class="line"><a name="l00410"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aabdbde642d2e9c07bd5abbaaa09d6058"> 410</a></span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aabdbde642d2e9c07bd5abbaaa09d6058">BundleSpaceGraph::distance</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *a, <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *b)<span class="keyword"> const</span></div>
<div class="line"><a name="l00411"></a><span class="lineno"> 411</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a7925713a683b52c73e9e1a7fe759afe2">metric_</a>->distanceBundle(a, b);</div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span> }</div>
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  </div>
<div class="line"><a name="l00415"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aac5d62baa6a151b402c363487623a2f9"> 415</a></span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aac5d62baa6a151b402c363487623a2f9">BundleSpaceGraph::checkMotion</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *a, <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *b)<span class="keyword"> const</span></div>
<div class="line"><a name="l00416"></a><span class="lineno"> 416</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->checkMotion(a->state, b->state);</div>
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span> }</div>
<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  </div>
<div class="line"><a name="l00420"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a88dbfeb26a7eaf4116cf50b6e4c87727"> 420</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a88dbfeb26a7eaf4116cf50b6e4c87727">BundleSpaceGraph::interpolate</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *a, <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *b, <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *dest)<span class="keyword"> const</span></div>
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a7925713a683b52c73e9e1a7fe759afe2">metric_</a>->interpolateBundle(a, b, dest);</div>
<div class="line"><a name="l00423"></a><span class="lineno"> 423</span> }</div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  </div>
<div class="line"><a name="l00425"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5d867386251dcea98f1ebd941f7be7dd"> 425</a></span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5d867386251dcea98f1ebd941f7be7dd">BundleSpaceGraph::steerTowards</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *from, <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *to)</div>
<div class="line"><a name="l00426"></a><span class="lineno"> 426</span> {</div>
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *next = <span class="keyword">new</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>(), to->state);</div>
<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  </div>
<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a22850e71cfbbb5ce900ab21b74d25921">propagator_</a>->steer(from, to, next))</div>
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  {</div>
<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  deleteConfiguration(next);</div>
<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  }</div>
<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  <span class="keywordflow">return</span> next;</div>
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span> }</div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  </div>
<div class="line"><a name="l00437"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a50904fba20f43ac7bc233f3ffde8eb16"> 437</a></span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a50904fba20f43ac7bc233f3ffde8eb16">BundleSpaceGraph::steerTowards_Range</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *from, <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *to)</div>
<div class="line"><a name="l00438"></a><span class="lineno"> 438</span> {</div>
<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  <span class="keywordtype">double</span> d = <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aabdbde642d2e9c07bd5abbaaa09d6058">distance</a>(from, to);</div>
<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  <span class="keywordflow">if</span> (d > <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">maxDistance_</a>)</div>
<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  {</div>
<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a7925713a683b52c73e9e1a7fe759afe2">metric_</a>->interpolateBundle(from, to, <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">maxDistance_</a> / d, to);</div>
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  }</div>
<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  </div>
<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a22850e71cfbbb5ce900ab21b74d25921">propagator_</a>->steer(from, to, to))</div>
<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  {</div>
<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  }</div>
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *next = <span class="keyword">new</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>(), to->state);</div>
<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  <span class="keywordflow">return</span> next;</div>
<div class="line"><a name="l00451"></a><span class="lineno"> 451</span> }</div>
<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  </div>
<div class="line"><a name="l00453"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a184184689569610b0976bca91a5ef09e"> 453</a></span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a184184689569610b0976bca91a5ef09e">BundleSpaceGraph::extendGraphTowards_Range</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *from, <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *to)</div>
<div class="line"><a name="l00454"></a><span class="lineno"> 454</span> {</div>
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  <span class="keywordflow">if</span> (!isDynamic())</div>
<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  {</div>
<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  <span class="keywordtype">double</span> d = <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aabdbde642d2e9c07bd5abbaaa09d6058">distance</a>(from, to);</div>
<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  <span class="keywordflow">if</span> (d > <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">maxDistance_</a>)</div>
<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  {</div>
<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a7925713a683b52c73e9e1a7fe759afe2">metric_</a>->interpolateBundle(from, to, <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">maxDistance_</a> / d, to);</div>
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  }</div>
<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  }</div>
<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  </div>
<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a22850e71cfbbb5ce900ab21b74d25921">propagator_</a>->steer(from, to, to))</div>
<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  {</div>
<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  }</div>
<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  </div>
<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *next = <span class="keyword">new</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>(), to->state);</div>
<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2e30391590cc20b303bf132a94f414e5">addConfiguration</a>(next);</div>
<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aa9a011d8547380113d1fb2c2b414489d">addBundleEdge</a>(from, next);</div>
<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  <span class="keywordflow">return</span> next;</div>
<div class="line"><a name="l00473"></a><span class="lineno"> 473</span> }</div>
<div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  </div>
<div class="line"><a name="l00475"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a04603eff11e06b615d7ece0e1f02fad9"> 475</a></span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a04603eff11e06b615d7ece0e1f02fad9">BundleSpaceGraph::connect</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *from, <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *to)</div>
<div class="line"><a name="l00476"></a><span class="lineno"> 476</span> {</div>
<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a22850e71cfbbb5ce900ab21b74d25921">propagator_</a>->steer(from, to, <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4be6d823b2f6505f431f81371da21b71">xRandom_</a>))</div>
<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  {</div>
<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  }</div>
<div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  </div>
<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aa9a011d8547380113d1fb2c2b414489d">addBundleEdge</a>(from, to);</div>
<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00484"></a><span class="lineno"> 484</span> }</div>
<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  </div>
<div class="line"><a name="l00486"></a><span class="lineno"> 486</span> <span class="keywordtype">void</span> BundleSpaceGraph::setPropagator(<span class="keyword">const</span> std::string &sPropagator)</div>
<div class="line"><a name="l00487"></a><span class="lineno"> 487</span> {</div>
<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  <span class="keywordflow">if</span> (sPropagator == <span class="stringliteral">"geometric"</span>)</div>
<div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  {</div>
<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  <a class="code" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Geometric Propagator Selected"</span>);</div>
<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a22850e71cfbbb5ce900ab21b74d25921">propagator_</a> = std::make_shared<BundleSpacePropagatorGeometric>(<span class="keyword">this</span>);</div>
<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  }</div>
<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  {</div>
<div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Propagator unknown: %s"</span>, sPropagator.c_str());</div>
<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"Unknown Propagator"</span>);</div>
<div class="line"><a name="l00497"></a><span class="lineno"> 497</span>  }</div>
<div class="line"><a name="l00498"></a><span class="lineno"> 498</span> }</div>
<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  </div>
<div class="line"><a name="l00500"></a><span class="lineno"> 500</span> <span class="keywordtype">void</span> BundleSpaceGraph::setMetric(<span class="keyword">const</span> std::string &sMetric)</div>
<div class="line"><a name="l00501"></a><span class="lineno"> 501</span> {</div>
<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  <span class="keywordflow">if</span> (sMetric == <span class="stringliteral">"geodesic"</span>)</div>
<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  {</div>
<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  <a class="code" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Geodesic Metric Selected"</span>);</div>
<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a7925713a683b52c73e9e1a7fe759afe2">metric_</a> = std::make_shared<BundleSpaceMetricGeodesic>(<span class="keyword">this</span>);</div>
<div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  }</div>
<div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  {</div>
<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Metric unknown: %s"</span>, sMetric.c_str());</div>
<div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"Unknown Metric"</span>);</div>
<div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  }</div>
<div class="line"><a name="l00512"></a><span class="lineno"> 512</span> }</div>
<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  </div>
<div class="line"><a name="l00514"></a><span class="lineno"> 514</span> <span class="keywordtype">void</span> BundleSpaceGraph::setImportance(<span class="keyword">const</span> std::string &sImportance)</div>
<div class="line"><a name="l00515"></a><span class="lineno"> 515</span> {</div>
<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  <span class="keywordflow">if</span> (sImportance == <span class="stringliteral">"uniform"</span>)</div>
<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  {</div>
<div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  <a class="code" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Uniform Importance Selected"</span>);</div>
<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0ff33279b454b1b78eb68f136b8d4b63">importanceCalculator_</a> = std::make_shared<BundleSpaceImportanceUniform>(<span class="keyword">this</span>);</div>
<div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  }</div>
<div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sImportance == <span class="stringliteral">"greedy"</span>)</div>
<div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  {</div>
<div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  <a class="code" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Greedy Importance Selected"</span>);</div>
<div class="line"><a name="l00524"></a><span class="lineno"> 524</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0ff33279b454b1b78eb68f136b8d4b63">importanceCalculator_</a> = std::make_shared<BundleSpaceImportanceGreedy>(<span class="keyword">this</span>);</div>
<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  }</div>
<div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sImportance == <span class="stringliteral">"exponential"</span>)</div>
<div class="line"><a name="l00527"></a><span class="lineno"> 527</span>  {</div>
<div class="line"><a name="l00528"></a><span class="lineno"> 528</span>  <a class="code" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Greedy Importance Selected"</span>);</div>
<div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0ff33279b454b1b78eb68f136b8d4b63">importanceCalculator_</a> = std::make_shared<BundleSpaceImportanceExponential>(<span class="keyword">this</span>);</div>
<div class="line"><a name="l00530"></a><span class="lineno"> 530</span>  }</div>
<div class="line"><a name="l00531"></a><span class="lineno"> 531</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  {</div>
<div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Importance calculator unknown: %s"</span>, sImportance.c_str());</div>
<div class="line"><a name="l00534"></a><span class="lineno"> 534</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"Unknown Importance"</span>);</div>
<div class="line"><a name="l00535"></a><span class="lineno"> 535</span>  }</div>
<div class="line"><a name="l00536"></a><span class="lineno"> 536</span> }</div>
<div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  </div>
<div class="line"><a name="l00538"></a><span class="lineno"> 538</span> <span class="keywordtype">void</span> BundleSpaceGraph::setGraphSampler(<span class="keyword">const</span> std::string &sGraphSampler)</div>
<div class="line"><a name="l00539"></a><span class="lineno"> 539</span> {</div>
<div class="line"><a name="l00540"></a><span class="lineno"> 540</span>  <span class="keywordflow">if</span> (sGraphSampler == <span class="stringliteral">"randomvertex"</span>)</div>
<div class="line"><a name="l00541"></a><span class="lineno"> 541</span>  {</div>
<div class="line"><a name="l00542"></a><span class="lineno"> 542</span>  <a class="code" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Random Vertex Sampler Selected"</span>);</div>
<div class="line"><a name="l00543"></a><span class="lineno"> 543</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0d9698226aaed8c3b3224da08820a30e">graphSampler_</a> = std::make_shared<BundleSpaceGraphSamplerRandomVertex>(<span class="keyword">this</span>);</div>
<div class="line"><a name="l00544"></a><span class="lineno"> 544</span>  }</div>
<div class="line"><a name="l00545"></a><span class="lineno"> 545</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sGraphSampler == <span class="stringliteral">"randomedge"</span>)</div>
<div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  {</div>
<div class="line"><a name="l00547"></a><span class="lineno"> 547</span>  <a class="code" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Random Edge Sampler Selected"</span>);</div>
<div class="line"><a name="l00548"></a><span class="lineno"> 548</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0d9698226aaed8c3b3224da08820a30e">graphSampler_</a> = std::make_shared<BundleSpaceGraphSamplerRandomEdge>(<span class="keyword">this</span>);</div>
<div class="line"><a name="l00549"></a><span class="lineno"> 549</span>  }</div>
<div class="line"><a name="l00550"></a><span class="lineno"> 550</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sGraphSampler == <span class="stringliteral">"randomdegreevertex"</span>)</div>
<div class="line"><a name="l00551"></a><span class="lineno"> 551</span>  {</div>
<div class="line"><a name="l00552"></a><span class="lineno"> 552</span>  <a class="code" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Random Degree Vertex Sampler Selected"</span>);</div>
<div class="line"><a name="l00553"></a><span class="lineno"> 553</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0d9698226aaed8c3b3224da08820a30e">graphSampler_</a> = std::make_shared<BundleSpaceGraphSamplerRandomDegreeVertex>(<span class="keyword">this</span>);</div>
<div class="line"><a name="l00554"></a><span class="lineno"> 554</span>  }</div>
<div class="line"><a name="l00555"></a><span class="lineno"> 555</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00556"></a><span class="lineno"> 556</span>  {</div>
<div class="line"><a name="l00557"></a><span class="lineno"> 557</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Sampler unknown: %s"</span>, sGraphSampler.c_str());</div>
<div class="line"><a name="l00558"></a><span class="lineno"> 558</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"Unknown Graph Sampler"</span>);</div>
<div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  }</div>
<div class="line"><a name="l00560"></a><span class="lineno"> 560</span> }</div>
<div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  </div>
<div class="line"><a name="l00562"></a><span class="lineno"> 562</span> BundleSpaceGraphSamplerPtr BundleSpaceGraph::getGraphSampler()</div>
<div class="line"><a name="l00563"></a><span class="lineno"> 563</span> {</div>
<div class="line"><a name="l00564"></a><span class="lineno"> 564</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0d9698226aaed8c3b3224da08820a30e">graphSampler_</a>;</div>
<div class="line"><a name="l00565"></a><span class="lineno"> 565</span> }</div>
<div class="line"><a name="l00566"></a><span class="lineno"> 566</span>  </div>
<div class="line"><a name="l00567"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a55c5d6431a21d6c8b772b81cdc8a67fa"> 567</a></span> <span class="keyword">const</span> std::pair<BundleSpaceGraph::Edge, bool> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a55c5d6431a21d6c8b772b81cdc8a67fa">BundleSpaceGraph::addEdge</a>(<span class="keyword">const</span> Vertex a, <span class="keyword">const</span> Vertex b)</div>
<div class="line"><a name="l00568"></a><span class="lineno"> 568</span> {</div>
<div class="line"><a name="l00569"></a><span class="lineno"> 569</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> weight = getOptimizationObjectivePtr()->motionCost(graph_[a]->state, graph_[b]->state);</div>
<div class="line"><a name="l00570"></a><span class="lineno"> 570</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1EdgeInternalState.html">EdgeInternalState</a> properties(weight);</div>
<div class="line"><a name="l00571"></a><span class="lineno"> 571</span>  <span class="keyword">const</span> std::pair<Edge, bool> e = boost::add_edge(a, b, properties, graph_);</div>
<div class="line"><a name="l00572"></a><span class="lineno"> 572</span>  uniteComponents(a, b);</div>
<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  <span class="keywordflow">return</span> e;</div>
<div class="line"><a name="l00574"></a><span class="lineno"> 574</span> }</div>
<div class="line"><a name="l00575"></a><span class="lineno"> 575</span>  </div>
<div class="line"><a name="l00576"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a86e04bdab5ff70826b5926c554de0b97"> 576</a></span> BundleSpaceGraph::Vertex <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a86e04bdab5ff70826b5926c554de0b97">BundleSpaceGraph::getStartIndex</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00577"></a><span class="lineno"> 577</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00578"></a><span class="lineno"> 578</span>  <span class="keywordflow">return</span> vStart_;</div>
<div class="line"><a name="l00579"></a><span class="lineno"> 579</span> }</div>
<div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  </div>
<div class="line"><a name="l00581"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac55d7bd5c6a1ff55ed26df900d6aea16"> 581</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac55d7bd5c6a1ff55ed26df900d6aea16">BundleSpaceGraph::addGoalConfiguration</a>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *x)</div>
<div class="line"><a name="l00582"></a><span class="lineno"> 582</span> {</div>
<div class="line"><a name="l00583"></a><span class="lineno"> 583</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">goalConfigurations_</a>.push_back(x);</div>
<div class="line"><a name="l00584"></a><span class="lineno"> 584</span>  <span class="keywordflow">if</span> (getOptimizationObjectivePtr()->isCostBetterThan(x->cost, <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a6137b49fdfdd7b1fa78c4062f5134779">bestCost_</a>))</div>
<div class="line"><a name="l00585"></a><span class="lineno"> 585</span>  {</div>
<div class="line"><a name="l00586"></a><span class="lineno"> 586</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a6137b49fdfdd7b1fa78c4062f5134779">bestCost_</a> = x->cost;</div>
<div class="line"><a name="l00587"></a><span class="lineno"> 587</span>  }</div>
<div class="line"><a name="l00588"></a><span class="lineno"> 588</span> }</div>
<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  </div>
<div class="line"><a name="l00590"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#af899f7a961475698d38406d09e9f7765"> 590</a></span> BundleSpaceGraph::Vertex <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#af899f7a961475698d38406d09e9f7765">BundleSpaceGraph::getGoalIndex</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00591"></a><span class="lineno"> 591</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">goalConfigurations_</a>.size() > 0)</div>
<div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  {</div>
<div class="line"><a name="l00594"></a><span class="lineno"> 594</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">goalConfigurations_</a>.front()->index;</div>
<div class="line"><a name="l00595"></a><span class="lineno"> 595</span>  }</div>
<div class="line"><a name="l00596"></a><span class="lineno"> 596</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  {</div>
<div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  OMPL_DEVMSG1(<span class="stringliteral">"Returned NullVertex"</span>);</div>
<div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  <span class="keywordflow">return</span> nullVertex();</div>
<div class="line"><a name="l00600"></a><span class="lineno"> 600</span>  }</div>
<div class="line"><a name="l00601"></a><span class="lineno"> 601</span> }</div>
<div class="line"><a name="l00602"></a><span class="lineno"> 602</span>  </div>
<div class="line"><a name="l00603"></a><span class="lineno"> 603</span> BundleSpaceGraph::Vertex BundleSpaceGraph::nullVertex()<span class="keyword"> const</span></div>
<div class="line"><a name="l00604"></a><span class="lineno"> 604</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00605"></a><span class="lineno"> 605</span>  <span class="keywordflow">return</span> BGT::null_vertex();</div>
<div class="line"><a name="l00606"></a><span class="lineno"> 606</span> }</div>
<div class="line"><a name="l00607"></a><span class="lineno"> 607</span>  </div>
<div class="line"><a name="l00608"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5d797eae0df850b19da56dde23c7b76a"> 608</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5d797eae0df850b19da56dde23c7b76a">BundleSpaceGraph::setStartIndex</a>(Vertex idx)</div>
<div class="line"><a name="l00609"></a><span class="lineno"> 609</span> {</div>
<div class="line"><a name="l00610"></a><span class="lineno"> 610</span>  vStart_ = idx;</div>
<div class="line"><a name="l00611"></a><span class="lineno"> 611</span> }</div>
<div class="line"><a name="l00612"></a><span class="lineno"> 612</span>  </div>
<div class="line"><a name="l00613"></a><span class="lineno"> 613</span> <a class="code" href="classompl_1_1base_1_1PathPtr.html">ompl::base::PathPtr</a> &BundleSpaceGraph::getSolutionPathByReference()</div>
<div class="line"><a name="l00614"></a><span class="lineno"> 614</span> {</div>
<div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  <span class="keywordflow">return</span> solutionPath_;</div>
<div class="line"><a name="l00616"></a><span class="lineno"> 616</span> }</div>
<div class="line"><a name="l00617"></a><span class="lineno"> 617</span>  </div>
<div class="line"><a name="l00618"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0dba6b9849b1297dd0905ced2e5910b9"> 618</a></span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0dba6b9849b1297dd0905ced2e5910b9">BundleSpaceGraph::getSolution</a>(<a class="code" href="classompl_1_1base_1_1PathPtr.html">ompl::base::PathPtr</a> &solution)</div>
<div class="line"><a name="l00619"></a><span class="lineno"> 619</span> {</div>
<div class="line"><a name="l00620"></a><span class="lineno"> 620</span>  <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a5ea7396973afee88972122c4afabac6b">hasSolution_</a>)</div>
<div class="line"><a name="l00621"></a><span class="lineno"> 621</span>  {</div>
<div class="line"><a name="l00622"></a><span class="lineno"> 622</span>  <span class="keywordflow">if</span> ((solutionPath_ != <span class="keyword">nullptr</span>) && (getNumberOfVertices() == numVerticesWhenComputingSolutionPath_))</div>
<div class="line"><a name="l00623"></a><span class="lineno"> 623</span>  {</div>
<div class="line"><a name="l00624"></a><span class="lineno"> 624</span>  }</div>
<div class="line"><a name="l00625"></a><span class="lineno"> 625</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00626"></a><span class="lineno"> 626</span>  {</div>
<div class="line"><a name="l00627"></a><span class="lineno"> 627</span>  Vertex goalVertex;</div>
<div class="line"><a name="l00628"></a><span class="lineno"> 628</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">goalConfigurations_</a>.size(); k++)</div>
<div class="line"><a name="l00629"></a><span class="lineno"> 629</span>  {</div>
<div class="line"><a name="l00630"></a><span class="lineno"> 630</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *qk = <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">goalConfigurations_</a>.at(k);</div>
<div class="line"><a name="l00631"></a><span class="lineno"> 631</span>  <span class="keywordflow">if</span> (sameComponent(vStart_, qk-><a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a21747759c6e5715675df75abd5decaa2">index</a>))</div>
<div class="line"><a name="l00632"></a><span class="lineno"> 632</span>  {</div>
<div class="line"><a name="l00633"></a><span class="lineno"> 633</span>  solutionPath_ = <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a56aa7888ea79fe9bdb049a33956d283c">getPath</a>(vStart_, qk-><a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a21747759c6e5715675df75abd5decaa2">index</a>);</div>
<div class="line"><a name="l00634"></a><span class="lineno"> 634</span>  goalVertex = qk-><a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a21747759c6e5715675df75abd5decaa2">index</a>;</div>
<div class="line"><a name="l00635"></a><span class="lineno"> 635</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00636"></a><span class="lineno"> 636</span>  }</div>
<div class="line"><a name="l00637"></a><span class="lineno"> 637</span>  }</div>
<div class="line"><a name="l00638"></a><span class="lineno"> 638</span>  <span class="keywordflow">if</span> (solutionPath_ == <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00639"></a><span class="lineno"> 639</span>  {</div>
<div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  <span class="keywordflow">throw</span> <span class="stringliteral">"hasSolution_ is set, but no solution exists."</span>;</div>
<div class="line"><a name="l00641"></a><span class="lineno"> 641</span>  }</div>
<div class="line"><a name="l00642"></a><span class="lineno"> 642</span>  numVerticesWhenComputingSolutionPath_ = getNumberOfVertices();</div>
<div class="line"><a name="l00643"></a><span class="lineno"> 643</span>  </div>
<div class="line"><a name="l00644"></a><span class="lineno"> 644</span>  <span class="keywordflow">if</span> (!isDynamic() && solutionPath_ != solution && <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a216568fc1c5fd366af120660eeb96f98">hasParent</a>())</div>
<div class="line"><a name="l00645"></a><span class="lineno"> 645</span>  {</div>
<div class="line"><a name="l00646"></a><span class="lineno"> 646</span>  <span class="comment">// @NOTE: optimization seems to improve feasibility of sections</span></div>
<div class="line"><a name="l00647"></a><span class="lineno"> 647</span>  <span class="comment">// in low-dim problems (up to 20 dof roughly), but will take too</span></div>
<div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  <span class="comment">// much time for high-dim problems. Reducing vertices seems to</span></div>
<div class="line"><a name="l00649"></a><span class="lineno"> 649</span>  <span class="comment">// be the only optimization not significantly slowing everything</span></div>
<div class="line"><a name="l00650"></a><span class="lineno"> 650</span>  <span class="comment">// down.</span></div>
<div class="line"><a name="l00651"></a><span class="lineno"> 651</span>  </div>
<div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  <span class="keywordtype">bool</span> valid = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < 3; k++)</div>
<div class="line"><a name="l00654"></a><span class="lineno"> 654</span>  {</div>
<div class="line"><a name="l00655"></a><span class="lineno"> 655</span>  <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html">geometric::PathGeometric</a> &gpath = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html">geometric::PathGeometric</a> &<span class="keyword">></span>(*solutionPath_);</div>
<div class="line"><a name="l00656"></a><span class="lineno"> 656</span>  </div>
<div class="line"><a name="l00657"></a><span class="lineno"> 657</span>  valid = <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac873a6ed1b139ec1924367e6a1664eea">optimizer_</a>->reduceVertices(gpath, 0, 0, 0.1);</div>
<div class="line"><a name="l00658"></a><span class="lineno"> 658</span>  </div>
<div class="line"><a name="l00659"></a><span class="lineno"> 659</span>  <span class="keywordflow">if</span> (!valid)</div>
<div class="line"><a name="l00660"></a><span class="lineno"> 660</span>  {</div>
<div class="line"><a name="l00661"></a><span class="lineno"> 661</span>  <span class="comment">// reset solutionPath</span></div>
<div class="line"><a name="l00662"></a><span class="lineno"> 662</span>  solutionPath_ = <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a56aa7888ea79fe9bdb049a33956d283c">getPath</a>(vStart_, goalVertex);</div>
<div class="line"><a name="l00663"></a><span class="lineno"> 663</span>  }</div>
<div class="line"><a name="l00664"></a><span class="lineno"> 664</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00665"></a><span class="lineno"> 665</span>  {</div>
<div class="line"><a name="l00666"></a><span class="lineno"> 666</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00667"></a><span class="lineno"> 667</span>  }</div>
<div class="line"><a name="l00668"></a><span class="lineno"> 668</span>  }</div>
<div class="line"><a name="l00669"></a><span class="lineno"> 669</span>  }</div>
<div class="line"><a name="l00670"></a><span class="lineno"> 670</span>  }</div>
<div class="line"><a name="l00671"></a><span class="lineno"> 671</span>  solution = solutionPath_;</div>
<div class="line"><a name="l00672"></a><span class="lineno"> 672</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00673"></a><span class="lineno"> 673</span>  }</div>
<div class="line"><a name="l00674"></a><span class="lineno"> 674</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00675"></a><span class="lineno"> 675</span>  {</div>
<div class="line"><a name="l00676"></a><span class="lineno"> 676</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00677"></a><span class="lineno"> 677</span>  }</div>
<div class="line"><a name="l00678"></a><span class="lineno"> 678</span> }</div>
<div class="line"><a name="l00679"></a><span class="lineno"> 679</span>  </div>
<div class="line"><a name="l00680"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a56aa7888ea79fe9bdb049a33956d283c"> 680</a></span> <a class="code" href="classompl_1_1base_1_1PathPtr.html">ompl::base::PathPtr</a> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a56aa7888ea79fe9bdb049a33956d283c">BundleSpaceGraph::getPath</a>(<span class="keyword">const</span> Vertex &start, <span class="keyword">const</span> Vertex &goal)</div>
<div class="line"><a name="l00681"></a><span class="lineno"> 681</span> {</div>
<div class="line"><a name="l00682"></a><span class="lineno"> 682</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a56aa7888ea79fe9bdb049a33956d283c">getPath</a>(start, goal, graph_);</div>
<div class="line"><a name="l00683"></a><span class="lineno"> 683</span> }</div>
<div class="line"><a name="l00684"></a><span class="lineno"> 684</span>  </div>
<div class="line"><a name="l00685"></a><span class="lineno"> 685</span> <a class="code" href="classompl_1_1base_1_1PathPtr.html">ompl::base::PathPtr</a> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a56aa7888ea79fe9bdb049a33956d283c">BundleSpaceGraph::getPath</a>(<span class="keyword">const</span> Vertex &start, <span class="keyword">const</span> Vertex &goal, Graph &graph)</div>
<div class="line"><a name="l00686"></a><span class="lineno"> 686</span> {</div>
<div class="line"><a name="l00687"></a><span class="lineno"> 687</span>  std::vector<Vertex> prev(boost::num_vertices(graph));</div>
<div class="line"><a name="l00688"></a><span class="lineno"> 688</span>  <span class="keyword">auto</span> weight = boost::make_transform_value_property_map(std::mem_fn(&EdgeInternalState::getCost),</div>
<div class="line"><a name="l00689"></a><span class="lineno"> 689</span>  get(boost::edge_bundle, graph));</div>
<div class="line"><a name="l00690"></a><span class="lineno"> 690</span>  </div>
<div class="line"><a name="l00691"></a><span class="lineno"> 691</span>  <span class="keywordflow">try</span></div>
<div class="line"><a name="l00692"></a><span class="lineno"> 692</span>  {</div>
<div class="line"><a name="l00693"></a><span class="lineno"> 693</span>  boost::astar_search(graph, start, [<span class="keyword">this</span>, goal](<span class="keyword">const</span> Vertex v) { <span class="keywordflow">return</span> costHeuristic(v, goal); },</div>
<div class="line"><a name="l00694"></a><span class="lineno"> 694</span>  boost::predecessor_map(&prev[0])</div>
<div class="line"><a name="l00695"></a><span class="lineno"> 695</span>  .weight_map(weight)</div>
<div class="line"><a name="l00696"></a><span class="lineno"> 696</span>  .distance_compare([<span class="keyword">this</span>](EdgeInternalState c1, EdgeInternalState c2) {</div>
<div class="line"><a name="l00697"></a><span class="lineno"> 697</span>  <span class="keywordflow">return</span> getOptimizationObjectivePtr()->isCostBetterThan(c1.getCost(), c2.getCost());</div>
<div class="line"><a name="l00698"></a><span class="lineno"> 698</span>  })</div>
<div class="line"><a name="l00699"></a><span class="lineno"> 699</span>  .distance_combine([<span class="keyword">this</span>](EdgeInternalState c1, EdgeInternalState c2) {</div>
<div class="line"><a name="l00700"></a><span class="lineno"> 700</span>  <span class="keywordflow">return</span> getOptimizationObjectivePtr()->combineCosts(c1.getCost(), c2.getCost());</div>
<div class="line"><a name="l00701"></a><span class="lineno"> 701</span>  })</div>
<div class="line"><a name="l00702"></a><span class="lineno"> 702</span>  .distance_inf(getOptimizationObjectivePtr()->infiniteCost())</div>
<div class="line"><a name="l00703"></a><span class="lineno"> 703</span>  .distance_zero(getOptimizationObjectivePtr()->identityCost())</div>
<div class="line"><a name="l00704"></a><span class="lineno"> 704</span>  .visitor(BundleSpaceGraphGoalVisitor<Vertex>(goal)));</div>
<div class="line"><a name="l00705"></a><span class="lineno"> 705</span>  }</div>
<div class="line"><a name="l00706"></a><span class="lineno"> 706</span>  <span class="keywordflow">catch</span> (BundleSpaceGraphFoundGoal &)</div>
<div class="line"><a name="l00707"></a><span class="lineno"> 707</span>  {</div>
<div class="line"><a name="l00708"></a><span class="lineno"> 708</span>  }</div>
<div class="line"><a name="l00709"></a><span class="lineno"> 709</span>  </div>
<div class="line"><a name="l00710"></a><span class="lineno"> 710</span>  <span class="keyword">auto</span> p(std::make_shared<geometric::PathGeometric>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()));</div>
<div class="line"><a name="l00711"></a><span class="lineno"> 711</span>  <span class="keywordflow">if</span> (prev[goal] == goal)</div>
<div class="line"><a name="l00712"></a><span class="lineno"> 712</span>  {</div>
<div class="line"><a name="l00713"></a><span class="lineno"> 713</span>  <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00714"></a><span class="lineno"> 714</span>  }</div>
<div class="line"><a name="l00715"></a><span class="lineno"> 715</span>  </div>
<div class="line"><a name="l00716"></a><span class="lineno"> 716</span>  std::vector<Vertex> vpath;</div>
<div class="line"><a name="l00717"></a><span class="lineno"> 717</span>  <span class="keywordflow">for</span> (Vertex pos = goal; prev[pos] != pos; pos = prev[pos])</div>
<div class="line"><a name="l00718"></a><span class="lineno"> 718</span>  {</div>
<div class="line"><a name="l00719"></a><span class="lineno"> 719</span>  graph[pos]->on_shortest_path = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00720"></a><span class="lineno"> 720</span>  vpath.push_back(pos);</div>
<div class="line"><a name="l00721"></a><span class="lineno"> 721</span>  p->append(graph[pos]->state);</div>
<div class="line"><a name="l00722"></a><span class="lineno"> 722</span>  }</div>
<div class="line"><a name="l00723"></a><span class="lineno"> 723</span>  graph[start]->on_shortest_path = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00724"></a><span class="lineno"> 724</span>  vpath.push_back(start);</div>
<div class="line"><a name="l00725"></a><span class="lineno"> 725</span>  p->append(graph[start]->state);</div>
<div class="line"><a name="l00726"></a><span class="lineno"> 726</span>  </div>
<div class="line"><a name="l00727"></a><span class="lineno"> 727</span>  shortestVertexPath_.clear();</div>
<div class="line"><a name="l00728"></a><span class="lineno"> 728</span>  shortestVertexPath_.insert(shortestVertexPath_.begin(), vpath.rbegin(), vpath.rend());</div>
<div class="line"><a name="l00729"></a><span class="lineno"> 729</span>  p->reverse();</div>
<div class="line"><a name="l00730"></a><span class="lineno"> 730</span>  </div>
<div class="line"><a name="l00731"></a><span class="lineno"> 731</span>  <span class="keywordflow">return</span> p;</div>
<div class="line"><a name="l00732"></a><span class="lineno"> 732</span> }</div>
<div class="line"><a name="l00733"></a><span class="lineno"> 733</span>  </div>
<div class="line"><a name="l00734"></a><span class="lineno"> 734</span> <span class="keywordtype">void</span> BundleSpaceGraph::sampleBundleGoalBias(<a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *xRandom)</div>
<div class="line"><a name="l00735"></a><span class="lineno"> 735</span> {</div>
<div class="line"><a name="l00736"></a><span class="lineno"> 736</span>  <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a5ea7396973afee88972122c4afabac6b">hasSolution_</a>)</div>
<div class="line"><a name="l00737"></a><span class="lineno"> 737</span>  {</div>
<div class="line"><a name="l00738"></a><span class="lineno"> 738</span>  <span class="comment">// No Goal Biasing if we already found a solution on this bundle space</span></div>
<div class="line"><a name="l00739"></a><span class="lineno"> 739</span>  sampleBundle(xRandom);</div>
<div class="line"><a name="l00740"></a><span class="lineno"> 740</span>  }</div>
<div class="line"><a name="l00741"></a><span class="lineno"> 741</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00742"></a><span class="lineno"> 742</span>  {</div>
<div class="line"><a name="l00743"></a><span class="lineno"> 743</span>  <span class="keywordtype">double</span> s = rng_.<a class="code" href="classompl_1_1RNG.html#af9450941c808fc53f30173c364bbfd25">uniform01</a>();</div>
<div class="line"><a name="l00744"></a><span class="lineno"> 744</span>  <span class="keywordflow">if</span> (s < <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4df8b0de73fc4288c525d83eae82c03b">goalBias_</a> && getGoalPtr()->canSample())</div>
<div class="line"><a name="l00745"></a><span class="lineno"> 745</span>  {</div>
<div class="line"><a name="l00746"></a><span class="lineno"> 746</span>  getGoalPtr()-><a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html#a11c9d2c4d9d5ddbeb8c30e531d1efc5f">sampleGoal</a>(xRandom);</div>
<div class="line"><a name="l00747"></a><span class="lineno"> 747</span>  }</div>
<div class="line"><a name="l00748"></a><span class="lineno"> 748</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00749"></a><span class="lineno"> 749</span>  {</div>
<div class="line"><a name="l00750"></a><span class="lineno"> 750</span>  sampleBundle(xRandom);</div>
<div class="line"><a name="l00751"></a><span class="lineno"> 751</span>  }</div>
<div class="line"><a name="l00752"></a><span class="lineno"> 752</span>  }</div>
<div class="line"><a name="l00753"></a><span class="lineno"> 753</span> }</div>
<div class="line"><a name="l00754"></a><span class="lineno"> 754</span>  </div>
<div class="line"><a name="l00755"></a><span class="lineno"> 755</span> <span class="keywordtype">void</span> BundleSpaceGraph::sampleFromDatastructure(<a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *xRandom)</div>
<div class="line"><a name="l00756"></a><span class="lineno"> 756</span> {</div>
<div class="line"><a name="l00757"></a><span class="lineno"> 757</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0d9698226aaed8c3b3224da08820a30e">graphSampler_</a>->sample(xRandom);</div>
<div class="line"><a name="l00758"></a><span class="lineno"> 758</span> }</div>
<div class="line"><a name="l00759"></a><span class="lineno"> 759</span>  </div>
<div class="line"><a name="l00760"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4a4fa56792faf06ff5b7a2a02f518b8e"> 760</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4a4fa56792faf06ff5b7a2a02f518b8e">BundleSpaceGraph::writeToGraphviz</a>(std::string filename)<span class="keyword"> const</span></div>
<div class="line"><a name="l00761"></a><span class="lineno"> 761</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00762"></a><span class="lineno"> 762</span>  std::ofstream f(filename.c_str());</div>
<div class="line"><a name="l00763"></a><span class="lineno"> 763</span>  std::vector<std::string> annotationVec;</div>
<div class="line"><a name="l00764"></a><span class="lineno"> 764</span>  <span class="keywordflow">foreach</span> (<span class="keyword">const</span> Vertex v, boost::vertices(graph_))</div>
<div class="line"><a name="l00765"></a><span class="lineno"> 765</span>  {</div>
<div class="line"><a name="l00766"></a><span class="lineno"> 766</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *qv = graph_[v];</div>
<div class="line"><a name="l00767"></a><span class="lineno"> 767</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *s = qv->state;</div>
<div class="line"><a name="l00768"></a><span class="lineno"> 768</span>  std::ostringstream out;</div>
<div class="line"><a name="l00769"></a><span class="lineno"> 769</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->printState(s, out);</div>
<div class="line"><a name="l00770"></a><span class="lineno"> 770</span>  annotationVec.push_back(out.str());</div>
<div class="line"><a name="l00771"></a><span class="lineno"> 771</span>  }</div>
<div class="line"><a name="l00772"></a><span class="lineno"> 772</span>  write_graphviz(f, graph_, boost::make_label_writer(&annotationVec[0]));</div>
<div class="line"><a name="l00773"></a><span class="lineno"> 773</span> }</div>
<div class="line"><a name="l00774"></a><span class="lineno"> 774</span>  </div>
<div class="line"><a name="l00775"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac6c48f0bd45ba92bc2329620049352eb"> 775</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac6c48f0bd45ba92bc2329620049352eb">BundleSpaceGraph::print</a>(std::ostream &out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00776"></a><span class="lineno"> 776</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00777"></a><span class="lineno"> 777</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#aba53eb10bda696ee9ae962b5ff7a5bcb">BaseT::print</a>(out);</div>
<div class="line"><a name="l00778"></a><span class="lineno"> 778</span>  out << std::endl</div>
<div class="line"><a name="l00779"></a><span class="lineno"> 779</span>  << <span class="stringliteral">" --[BundleSpaceGraph has "</span> << getNumberOfVertices() << <span class="stringliteral">" vertices and "</span> << getNumberOfEdges() << <span class="stringliteral">" edges.]"</span></div>
<div class="line"><a name="l00780"></a><span class="lineno"> 780</span>  << std::endl;</div>
<div class="line"><a name="l00781"></a><span class="lineno"> 781</span> }</div>
<div class="line"><a name="l00782"></a><span class="lineno"> 782</span>  </div>
<div class="line"><a name="l00783"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a98a915de831599f05406e62c225b7445"> 783</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a98a915de831599f05406e62c225b7445">BundleSpaceGraph::printConfiguration</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *q)<span class="keyword"> const</span></div>
<div class="line"><a name="l00784"></a><span class="lineno"> 784</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00785"></a><span class="lineno"> 785</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->printState(q->state);</div>
<div class="line"><a name="l00786"></a><span class="lineno"> 786</span> }</div>
<div class="line"><a name="l00787"></a><span class="lineno"> 787</span>  </div>
<div class="line"><a name="l00788"></a><span class="lineno"> 788</span> <span class="keywordtype">void</span> BundleSpaceGraph::getPlannerDataGraph(<a class="code" href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a> &data, <span class="keyword">const</span> Graph &graph, <span class="keyword">const</span> Vertex vStart)<span class="keyword"> const</span></div>
<div class="line"><a name="l00789"></a><span class="lineno"> 789</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00790"></a><span class="lineno"> 790</span>  <span class="keywordflow">if</span> (boost::num_vertices(graph) <= 0)</div>
<div class="line"><a name="l00791"></a><span class="lineno"> 791</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00792"></a><span class="lineno"> 792</span>  </div>
<div class="line"><a name="l00793"></a><span class="lineno"> 793</span>  <a class="code" href="classompl_1_1multilevel_1_1PlannerDataVertexAnnotated.html">multilevel::PlannerDataVertexAnnotated</a> pstart(graph[vStart]->state);</div>
<div class="line"><a name="l00794"></a><span class="lineno"> 794</span>  pstart.setLevel(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#afed3a77b33d3e6d24016f06b0b577feb">getLevel</a>());</div>
<div class="line"><a name="l00795"></a><span class="lineno"> 795</span>  data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a2eea84456784452486aa0065af391f47">addStartVertex</a>(pstart);</div>
<div class="line"><a name="l00796"></a><span class="lineno"> 796</span>  </div>
<div class="line"><a name="l00797"></a><span class="lineno"> 797</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">goalConfigurations_</a>.size(); k++)</div>
<div class="line"><a name="l00798"></a><span class="lineno"> 798</span>  {</div>
<div class="line"><a name="l00799"></a><span class="lineno"> 799</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *qgoal = <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">goalConfigurations_</a>.at(k);</div>
<div class="line"><a name="l00800"></a><span class="lineno"> 800</span>  <a class="code" href="classompl_1_1multilevel_1_1PlannerDataVertexAnnotated.html">multilevel::PlannerDataVertexAnnotated</a> pgoal(qgoal->state);</div>
<div class="line"><a name="l00801"></a><span class="lineno"> 801</span>  pgoal.setLevel(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#afed3a77b33d3e6d24016f06b0b577feb">getLevel</a>());</div>
<div class="line"><a name="l00802"></a><span class="lineno"> 802</span>  data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a3604cb85b0402b09b319c5f1df02b12e">addGoalVertex</a>(pgoal);</div>
<div class="line"><a name="l00803"></a><span class="lineno"> 803</span>  }</div>
<div class="line"><a name="l00804"></a><span class="lineno"> 804</span>  <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a5ea7396973afee88972122c4afabac6b">hasSolution_</a>)</div>
<div class="line"><a name="l00805"></a><span class="lineno"> 805</span>  {</div>
<div class="line"><a name="l00806"></a><span class="lineno"> 806</span>  <span class="keywordflow">if</span> (solutionPath_ != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00807"></a><span class="lineno"> 807</span>  {</div>
<div class="line"><a name="l00808"></a><span class="lineno"> 808</span>  <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html">geometric::PathGeometric</a> &gpath = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html">geometric::PathGeometric</a> &<span class="keyword">></span>(*solutionPath_);</div>
<div class="line"><a name="l00809"></a><span class="lineno"> 809</span>  </div>
<div class="line"><a name="l00810"></a><span class="lineno"> 810</span>  std::vector<base::State *> gstates = gpath.<a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#ae124d24520b2d20635ec22805a252c8c">getStates</a>();</div>
<div class="line"><a name="l00811"></a><span class="lineno"> 811</span>  </div>
<div class="line"><a name="l00812"></a><span class="lineno"> 812</span>  <a class="code" href="classompl_1_1multilevel_1_1PlannerDataVertexAnnotated.html">multilevel::PlannerDataVertexAnnotated</a> *pLast = &pstart;</div>
<div class="line"><a name="l00813"></a><span class="lineno"> 813</span>  </div>
<div class="line"><a name="l00814"></a><span class="lineno"> 814</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 1; k < gstates.size(); k++)</div>
<div class="line"><a name="l00815"></a><span class="lineno"> 815</span>  {</div>
<div class="line"><a name="l00816"></a><span class="lineno"> 816</span>  <a class="code" href="classompl_1_1multilevel_1_1PlannerDataVertexAnnotated.html">multilevel::PlannerDataVertexAnnotated</a> p(gstates.at(k));</div>
<div class="line"><a name="l00817"></a><span class="lineno"> 817</span>  p.setLevel(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#afed3a77b33d3e6d24016f06b0b577feb">getLevel</a>());</div>
<div class="line"><a name="l00818"></a><span class="lineno"> 818</span>  data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#ac61c5ab5cfd6a66a58e03b1731c1e454">addVertex</a>(p);</div>
<div class="line"><a name="l00819"></a><span class="lineno"> 819</span>  data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#ac09c21494a8c7db500ef1a66bbbb1aa7">addEdge</a>(*pLast, p);</div>
<div class="line"><a name="l00820"></a><span class="lineno"> 820</span>  pLast = &p;</div>
<div class="line"><a name="l00821"></a><span class="lineno"> 821</span>  }</div>
<div class="line"><a name="l00822"></a><span class="lineno"> 822</span>  }</div>
<div class="line"><a name="l00823"></a><span class="lineno"> 823</span>  }</div>
<div class="line"><a name="l00824"></a><span class="lineno"> 824</span>  </div>
<div class="line"><a name="l00825"></a><span class="lineno"> 825</span>  <span class="keywordflow">foreach</span> (<span class="keyword">const</span> Edge e, boost::edges(graph))</div>
<div class="line"><a name="l00826"></a><span class="lineno"> 826</span>  {</div>
<div class="line"><a name="l00827"></a><span class="lineno"> 827</span>  <span class="keyword">const</span> Vertex v1 = boost::source(e, graph);</div>
<div class="line"><a name="l00828"></a><span class="lineno"> 828</span>  <span class="keyword">const</span> Vertex v2 = boost::target(e, graph);</div>
<div class="line"><a name="l00829"></a><span class="lineno"> 829</span>  </div>
<div class="line"><a name="l00830"></a><span class="lineno"> 830</span>  multilevel::PlannerDataVertexAnnotated p1(graph[v1]->state);</div>
<div class="line"><a name="l00831"></a><span class="lineno"> 831</span>  multilevel::PlannerDataVertexAnnotated p2(graph[v2]->state);</div>
<div class="line"><a name="l00832"></a><span class="lineno"> 832</span>  p1.setLevel(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#afed3a77b33d3e6d24016f06b0b577feb">getLevel</a>());</div>
<div class="line"><a name="l00833"></a><span class="lineno"> 833</span>  p2.setLevel(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#afed3a77b33d3e6d24016f06b0b577feb">getLevel</a>());</div>
<div class="line"><a name="l00834"></a><span class="lineno"> 834</span>  data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#ac09c21494a8c7db500ef1a66bbbb1aa7">addEdge</a>(p1, p2);</div>
<div class="line"><a name="l00835"></a><span class="lineno"> 835</span>  }</div>
<div class="line"><a name="l00836"></a><span class="lineno"> 836</span>  <span class="keywordflow">foreach</span> (<span class="keyword">const</span> Vertex v, boost::vertices(graph))</div>
<div class="line"><a name="l00837"></a><span class="lineno"> 837</span>  {</div>
<div class="line"><a name="l00838"></a><span class="lineno"> 838</span>  multilevel::PlannerDataVertexAnnotated p(graph[v]->state);</div>
<div class="line"><a name="l00839"></a><span class="lineno"> 839</span>  p.setLevel(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#afed3a77b33d3e6d24016f06b0b577feb">getLevel</a>());</div>
<div class="line"><a name="l00840"></a><span class="lineno"> 840</span>  data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#ac61c5ab5cfd6a66a58e03b1731c1e454">addVertex</a>(p);</div>
<div class="line"><a name="l00841"></a><span class="lineno"> 841</span>  }</div>
<div class="line"><a name="l00842"></a><span class="lineno"> 842</span> }</div>
<div class="line"><a name="l00843"></a><span class="lineno"> 843</span>  </div>
<div class="line"><a name="l00844"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ae6ecd9f14713bc1e10f0861850ce3630"> 844</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ae6ecd9f14713bc1e10f0861850ce3630">BundleSpaceGraph::getPlannerData</a>(<a class="code" href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a> &data)<span class="keyword"> const</span></div>
<div class="line"><a name="l00845"></a><span class="lineno"> 845</span> <span class="keyword"></span>{</div>