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<div class="title">BundleSpaceSequenceImpl.h</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/base/goals/GoalSampleableRegion.h></span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <ompl/base/goals/GoalState.h></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <ompl/base/goals/GoalStates.h></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <ompl/util/Exception.h></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <ompl/util/Time.h></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/BundleSpaceGraph.h></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/Projection.h></span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#af51f65f30042705ea11d04c13d3ba192"> 48</a></span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#af51f65f30042705ea11d04c13d3ba192">ompl::multilevel::BundleSpaceSequence<T>::BundleSpaceSequence</a>(<a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">ompl::base::SpaceInformationPtr</a> si, std::string type)</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  : <a class="code" href="classompl_1_1multilevel_1_1PlannerMultiLevel.html">BaseT</a>(si, type)</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> {</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  declareBundleSpaces(<span class="keyword">true</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>  </div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a7dba19f4dcc5564d301c8da54d69f528"> 55</a></span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#af51f65f30042705ea11d04c13d3ba192">ompl::multilevel::BundleSpaceSequence<T>::BundleSpaceSequence</a>(std::vector<ompl::base::SpaceInformationPtr> &siVec,</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  std::string type)</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  : <a class="code" href="classompl_1_1multilevel_1_1PlannerMultiLevel.html">BaseT</a>(siVec, type)</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> {</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  declareBundleSpaces(<span class="keyword">true</span>);</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> }</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a2a81941e817768931f6d309700b9b1c0"> 63</a></span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#af51f65f30042705ea11d04c13d3ba192">ompl::multilevel::BundleSpaceSequence<T>::BundleSpaceSequence</a>(std::vector<ompl::base::SpaceInformationPtr> &siVec,</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  std::vector<ompl::multilevel::ProjectionPtr> &projVec,</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  std::string type)</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  : <a class="code" href="classompl_1_1multilevel_1_1PlannerMultiLevel.html">BaseT</a>(siVec, type)</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> {</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  assert(siVec.size() > 0);</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  assert((siVec.size() - 1) == projVec.size());</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  declareBundleSpaces(<span class="keyword">false</span>);</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="comment">// None projection (from last state to empty)</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a7a45134c9fb9d99963be8a2f0896d093">bundleSpaces_</a>.front()->makeProjection();</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 1; k < <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a7a45134c9fb9d99963be8a2f0896d093">bundleSpaces_</a>.size(); k++)</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  {</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *bk = <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a7a45134c9fb9d99963be8a2f0896d093">bundleSpaces_</a>.at(k);</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  bk-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a454fb6c609dae1165257746519e374a0">setProjection</a>(projVec.at(k - 1));</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="comment">// need to precompute the location helper functions to utilize</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="comment">//"copyToReals" inside the projection function</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  bk-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->setup();</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</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>  </div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html">ompl::multilevel::BundleSpaceSequence<T>::declareBundleSpaces</a>(<span class="keywordtype">bool</span> guessProjection)</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> {</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  T::resetCounter();</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < siVec_.size(); k++)</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  {</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  T *parent = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordflow">if</span> (k > 0)</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  parent = bundleSpaces_.back();</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  T *ss = <span class="keyword">new</span> T(siVec_.at(k), parent);</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  bundleSpaces_.push_back(ss);</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *<span class="keyword">></span>(bundleSpaces_.back())->setLevel(k);</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>  stopAtLevel_ = bundleSpaces_.size();</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  </div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">if</span> (guessProjection)</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>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < bundleSpaces_.size(); k++)</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  {</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  bundleSpaces_.at(k)-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a96f6bee45ab1ac1c3fd9b176bfa3864a">makeProjection</a>();</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  }</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</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>  <a class="code" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Created %d BundleSpace levels (%s)."</span>, siVec_.size(), getName().c_str());</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> <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html">ompl::multilevel::BundleSpaceSequence<T>::~BundleSpaceSequence</a>()</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> {</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < bundleSpaces_.size(); k++)</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  {</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordflow">if</span> (bundleSpaces_.at(k))</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>  <span class="keyword">delete</span> bundleSpaces_.at(k);</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>  }</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  bundleSpaces_.<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#aa005dad76ecddd6af0ade0164540ce0b">clear</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>  </div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html">ompl::multilevel::BundleSpaceSequence<T>::setStopLevel</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> level_)</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> (level_ > bundleSpaces_.size())</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>  stopAtLevel_ = bundleSpaces_.size();</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>  stopAtLevel_ = level_;</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  }</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> }</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> <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a06eeb65b76d15ca166ed92fdac721f9d"> 138</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a06eeb65b76d15ca166ed92fdac721f9d">ompl::multilevel::BundleSpaceSequence<T>::setFindSectionStrategy</a>(FindSectionType type)</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>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < bundleSpaces_.size(); k++)</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  {</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html">BundleSpaceGraph</a> *bsg = <span class="keyword">dynamic_cast<</span><a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html">BundleSpaceGraph</a> *<span class="keyword">></span>(bundleSpaces_.at(k));</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordflow">if</span> (bsg != <span class="keyword">nullptr</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>  bsg->setFindSectionStrategy(type);</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  }</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> }</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> <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a0846c460d25a61fc9adbfb62ef85aed5"> 151</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a0846c460d25a61fc9adbfb62ef85aed5">ompl::multilevel::BundleSpaceSequence<T>::setup</a>()</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> {</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  BaseT::setup();</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < stopAtLevel_; k++)</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>  <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *<span class="keyword">></span>(bundleSpaces_.at(k))->setup();</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>  currentBundleSpaceLevel_ = 0;</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>  </div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#aa005dad76ecddd6af0ade0164540ce0b"> 162</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#aa005dad76ecddd6af0ade0164540ce0b">ompl::multilevel::BundleSpaceSequence<T>::clear</a>()</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>  BaseT::clear();</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>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < bundleSpaces_.size(); k++)</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  {</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *<span class="keyword">></span>(bundleSpaces_.at(k))->clear();</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>  currentBundleSpaceLevel_ = 0;</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>  <span class="keywordflow">while</span> (!priorityQueue_.empty())</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  priorityQueue_.pop();</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>  foundKLevelSolution_ = <span class="keyword">false</span>;</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>  </div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> <a class="code" href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a9294456febfb4d0b5e83797a81d736d7"> 180</a></span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a9294456febfb4d0b5e83797a81d736d7">ompl::multilevel::BundleSpaceSequence<T>::solve</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a> &ptc)</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>  <a class="code" href="namespaceompl_1_1time.html#a4bbc20223e0b408d4a59f453a1ae7a25">ompl::time::point</a> t_start = <a class="code" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">ompl::time::now</a>();</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">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = currentBundleSpaceLevel_; k < stopAtLevel_; k++)</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>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *kBundle = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *<span class="keyword">></span>(bundleSpaces_.at(k));</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  </div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  foundKLevelSolution_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  </div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordflow">if</span> (priorityQueue_.size() <= currentBundleSpaceLevel_)</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  priorityQueue_.push(kBundle);</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  </div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a> ptcOrSolutionFound(</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  [<span class="keyword">this</span>, &ptc] { <span class="keywordflow">return</span> ptc || foundKLevelSolution_; });</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  </div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="keywordflow">while</span> (!ptcOrSolutionFound())</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  {</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *jBundle = priorityQueue_.top();</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  priorityQueue_.pop();</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  jBundle-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a4f3ce74ab9e38119a662705ed0559bf2">grow</a>();</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  </div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keywordtype">bool</span> hasSolution = kBundle->hasSolution();</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">if</span> (hasSolution)</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>  <a class="code" href="classompl_1_1base_1_1PathPtr.html">ompl::base::PathPtr</a> sol_k;</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  kBundle-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a59b0dd36930d0e1b6c418188b802a8c5">getSolution</a>(sol_k);</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keywordflow">if</span> (solutions_.size() < k + 1)</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>  solutions_.push_back(sol_k);</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="keywordtype">double</span> t_k_end = <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">ompl::time::seconds</a>(<a class="code" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">ompl::time::now</a>() - t_start);</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <a class="code" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Found Solution on Level %d/%d after %f seconds."</span>, k + 1, stopAtLevel_, t_k_end);</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  currentBundleSpaceLevel_ = k + 1;</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keywordflow">if</span> (currentBundleSpaceLevel_ > (bundleSpaces_.size() - 1))</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  currentBundleSpaceLevel_ = bundleSpaces_.size() - 1;</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  }</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  {</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  solutions_.at(k) = sol_k;</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>  foundKLevelSolution_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  </div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="comment">// add solution to pdef</span></div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <a class="code" href="structompl_1_1base_1_1PlannerSolution.html">ompl::base::PlannerSolution</a> psol(sol_k);</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  std::string lvl_name = getName() + <span class="stringliteral">" LvL"</span> + std::to_string(k);</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  psol.<a class="code" href="structompl_1_1base_1_1PlannerSolution.html#aa06d5e3c877a5a7a6f5160f01a2f6d89">setPlannerName</a>(lvl_name);</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  </div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  kBundle-><a class="code" href="classompl_1_1base_1_1Planner.html#a9ed56702dfe698ea3d20eff7c98e7cef">getProblemDefinition</a>()->clearSolutionPaths();</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  kBundle-><a class="code" href="classompl_1_1base_1_1Planner.html#a9ed56702dfe698ea3d20eff7c98e7cef">getProblemDefinition</a>()->addSolutionPath(psol);</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  }</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>  <span class="keywordtype">bool</span> isInfeasible = kBundle-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a428add084ed48c68645ee58cdc802f04">isInfeasible</a>();</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="keywordflow">if</span> (isInfeasible)</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  {</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="keywordtype">double</span> t_end = <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">ompl::time::seconds</a>(<a class="code" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">ompl::time::now</a>() - t_start);</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <a class="code" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Infeasibility detected after %f seconds (level %d)."</span>, t_end, k);</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keywordflow">return</span> <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4ade0d7f4cb23b8bc223a19faa22089f44">ompl::base::PlannerStatus::INFEASIBLE</a>;</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>  priorityQueue_.push(jBundle);</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="keywordflow">if</span> (!foundKLevelSolution_)</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  {</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <a class="code" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"-- Planner failed finding solution on BundleSpace level %d"</span>, k);</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keywordflow">return</span> <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd">ompl::base::PlannerStatus::TIMEOUT</a>;</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>  }</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_1base_1_1PathPtr.html">ompl::base::PathPtr</a> sol;</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <a class="code" href="structompl_1_1base_1_1PlannerSolution.html">ompl::base::PlannerSolution</a> psol(sol);</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *<span class="keyword">></span>(bundleSpaces_.back())->getProblemDefinition()-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a59b0dd36930d0e1b6c418188b802a8c5">getSolution</a>(psol);</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  pdef_->addSolutionPath(psol);</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  </div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="keywordflow">return</span> <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28">ompl::base::PlannerStatus::EXACT_SOLUTION</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> <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a56698b76ec788a8fb130e24b6beb3a6e"> 257</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a56698b76ec788a8fb130e24b6beb3a6e">ompl::multilevel::BundleSpaceSequence<T>::setProblemDefinition</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinitionPtr.html">ompl::base::ProblemDefinitionPtr</a> &pdef)</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>  BaseT::setProblemDefinition(pdef);</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  </div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keywordflow">if</span> (siVec_.size() < 1)</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <span class="keywordflow">return</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>  pdefVec_.clear();</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  pdefVec_.push_back(pdef);</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  bundleSpaces_.back()->setProblemDefinition(pdef);</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  </div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="keywordflow">if</span> (siVec_.size() <= 1)</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordflow">return</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>  assert(bundleSpaces_.size() == siVec_.size());</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="comment">//#########################################################################</span></div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="comment">// Check if goal type is projectable</span></div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <span class="comment">//#########################################################################</span></div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <a class="code" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55">ompl::base::GoalType</a> type = pdef_->getGoal()->getType();</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="keywordflow">if</span> (!(type == ompl::base::GoalType::GOAL_STATE || type == ompl::base::GoalType::GOAL_STATES))</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  {</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"If you want to use other goal classes than \"GoalSampleableRegion\", you need to specify them "</span></div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="stringliteral">"manually for each SpaceInformationPtr in the hierarchy."</span>);</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"Multilevel framework does not support provided goal specs."</span>);</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>  </div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="comment">//#########################################################################</span></div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="comment">// Iterate through all levels and project from the last level down</span></div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <span class="comment">//#########################################################################</span></div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html">ompl::base::GoalSampleableRegion</a> *goalRegion =</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html">ompl::base::GoalSampleableRegion</a> *<span class="keyword">></span>(pdef_->getGoal().get());</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <span class="keywordtype">double</span> epsilon = goalRegion-><a class="code" href="classompl_1_1base_1_1GoalRegion.html#a66e372802930500fceac120760e4dff2">getThreshold</a>();</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  </div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  base::OptimizationObjectivePtr obj = pdef->getOptimizationObjective();</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>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = siVec_.size() - 1; k > 0; k--)</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  {</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *parent = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *<span class="keyword">></span>(bundleSpaces_.at(k));</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *child = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *<span class="keyword">></span>(bundleSpaces_.at(k - 1));</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">ompl::base::SpaceInformationPtr</a> siChild = child-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>();</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  </div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <a class="code" href="classompl_1_1base_1_1ProblemDefinitionPtr.html">ompl::base::ProblemDefinitionPtr</a> pdefParent = pdefVec_.back();</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>  <a class="code" href="classompl_1_1base_1_1ProblemDefinitionPtr.html">ompl::base::ProblemDefinitionPtr</a> pdefChild = std::make_shared<base::ProblemDefinition>(siChild);</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>  <span class="comment">// Project Start State onto lower dimensional quotient space</span></div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *sInitParent = pdefParent->getStartState(0);</div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *sInitChild = siChild->allocState();</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>  parent-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">getProjection</a>()->project(sInitParent, sInitChild);</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  parent-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">getProjection</a>()->project(sInitParent, sInitChild);</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  pdefChild->addStartState(sInitChild);</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  </div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <span class="comment">// Now project goal state(s) down</span></div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="keywordflow">if</span> (type == ompl::base::GoalType::GOAL_STATE)</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>  <a class="code" href="classompl_1_1base_1_1GoalState.html">ompl::base::GoalState</a> *goal = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1base_1_1GoalState.html">ompl::base::GoalState</a> *<span class="keyword">></span>(pdefParent->getGoal().get());</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>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *sGoalParent = goal->getState();</div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *sGoalChild = siChild->allocState();</div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  parent-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">getProjection</a>()->project(sGoalParent, sGoalChild);</div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  pdefChild->setGoalState(sGoalChild, epsilon);</div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  }</div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (type == ompl::base::GoalType::GOAL_STATES)</div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  {</div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  <a class="code" href="classompl_1_1base_1_1GoalStates.html">ompl::base::GoalStates</a> *goal = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1base_1_1GoalStates.html">ompl::base::GoalStates</a> *<span class="keyword">></span>(pdefParent->getGoal().get());</div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> N = goal->getStateCount();</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>  ompl::base::GoalStatesPtr goalStates = std::make_shared<ompl::base::GoalStates>(siChild);</div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  goalStates->setThreshold(epsilon);</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>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0; j < N; j++)</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>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *sGoalParent = goal->getState(j);</div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *sGoalChild = siChild->allocState();</div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  parent-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">getProjection</a>()->project(sGoalParent, sGoalChild);</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  goalStates->addState(sGoalChild);</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>  pdefChild->setGoal(goalStates);</div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  }</div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  </div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  child-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#ab5942a757c6f9c570862c915ae590b06">setProblemDefinition</a>(pdefChild);</div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  pdefVec_.push_back(pdefChild);</div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  }</div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  </div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  std::reverse(pdefVec_.begin(), pdefVec_.end());</div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span> }</div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  </div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span> <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00347"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#aec055660b5dadbed3d827fa78dc9ac75"> 347</a></span> <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#aec055660b5dadbed3d827fa78dc9ac75">ompl::multilevel::BundleSpaceSequence<T>::getTotalState</a>(<span class="keywordtype">int</span> baseLevel,</div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *baseState)<span class="keyword"> const</span></div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *Qprev = bundleSpaces_.at(baseLevel);</div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *s_lift = Qprev-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->cloneState(baseState);</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>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> m = baseLevel + 1; m < bundleSpaces_.size(); m++)</div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  {</div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *Qm = bundleSpaces_.at(m);</div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  </div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  <span class="keywordflow">if</span> (Qm-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">getProjection</a>()->getCoDimension() > 0)</div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  {</div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *s_Bundle = Qm-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#aa217a6f17d9fdc6c56c36ba4d6007f62">allocIdentityStateBundle</a>();</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>  Qm-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">getProjection</a>()->lift(s_lift, s_Bundle);</div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  </div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  Qprev-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->freeState(s_lift);</div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  </div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  s_lift = Qm-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->cloneState(s_Bundle);</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>  Qm-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>()->freeState(s_Bundle);</div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  </div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  Qprev = Qm;</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="keywordflow">return</span> s_lift;</div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span> }</div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  </div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span> <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00376"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#ad26803bb97bb3886b96c14ede76b70c5"> 376</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#ad26803bb97bb3886b96c14ede76b70c5">ompl::multilevel::BundleSpaceSequence<T>::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="l00377"></a><span class="lineno"> 377</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> Nvertices = data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a877a673801134168cba0581b277cae79">numVertices</a>();</div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  <span class="keywordflow">if</span> (Nvertices > 0)</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>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"PlannerData has %d vertices."</span>, Nvertices);</div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"cannot get planner data if plannerdata is already populated"</span>);</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>  </div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> K = std::min(solutions_.size() + 1, bundleSpaces_.size());</div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  K = std::min(K, stopAtLevel_);</div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  </div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *Qlast = this->bundleSpaces_.back();</div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0; k < K; k++)</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>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *Qk = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *<span class="keyword">></span>(bundleSpaces_.at(k));</div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  Qk-><a class="code" href="classompl_1_1base_1_1Planner.html#ae8af389dbcdf416e142dc2f1cf5a8829">getPlannerData</a>(data);</div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  </div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  <span class="comment">// lift all states into the last bundle space (original state space)</span></div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="comment">// Required for decouplePlannerData() function in PlannerData</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="keywordtype">unsigned</span> <span class="keywordtype">int</span> ctr = 0;</div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  </div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> vidx = Nvertices; vidx < data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a877a673801134168cba0581b277cae79">numVertices</a>(); vidx++)</div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  {</div>
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  <a class="code" href="classompl_1_1multilevel_1_1PlannerDataVertexAnnotated.html">ompl::multilevel::PlannerDataVertexAnnotated</a> &v =</div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1multilevel_1_1PlannerDataVertexAnnotated.html">ompl::multilevel::PlannerDataVertexAnnotated</a> &<span class="keyword">></span>(data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#abebe83e30a20d7d79e26f18bf228e8bb">getVertex</a>(vidx));</div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  v.<a class="code" href="classompl_1_1multilevel_1_1PlannerDataVertexAnnotated.html#ae6311141b886a0a5f05ea9f6832ef6e2">setLevel</a>(k);</div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  v.<a class="code" href="classompl_1_1multilevel_1_1PlannerDataVertexAnnotated.html#ad48a0db5d5d4f8ef57091c75dd3a2ca1">setMaxLevel</a>(K);</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_1base_1_1State.html">base::State</a> *s_lift = getTotalState(k, v.<a class="code" href="classompl_1_1multilevel_1_1PlannerDataVertexAnnotated.html#aaa0bb497bd86ef39a433ee7362bec799">getBaseState</a>());</div>
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  v.<a class="code" href="classompl_1_1multilevel_1_1PlannerDataVertexAnnotated.html#a27850ed68cae9fc2f5f83559d36fbe7d">setTotalState</a>(s_lift, Qlast-><a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>());</div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  ctr++;</div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  }</div>
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  Nvertices = data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a877a673801134168cba0581b277cae79">numVertices</a>();</div>
<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  }</div>
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  <a class="code" href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a>(<span class="stringliteral">"Multilevel Graph has %d/%d vertices/edges"</span>, data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a877a673801134168cba0581b277cae79">numVertices</a>(), data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a383876c22dd92deeed0a536c10f7ecd4">numEdges</a>());</div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span> }</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1multilevel_1_1PlannerDataVertexAnnotated_html_ad48a0db5d5d4f8ef57091c75dd3a2ca1"><div class="ttname"><a href="classompl_1_1multilevel_1_1PlannerDataVertexAnnotated.html#ad48a0db5d5d4f8ef57091c75dd3a2ca1">ompl::multilevel::PlannerDataVertexAnnotated::setMaxLevel</a></div><div class="ttdeci">void setMaxLevel(unsigned int level_)</div><div class="ttdoc">The maximum level in the bundle space hierarchy.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerDataVertexAnnotated_8cpp_source.html#l00097">PlannerDataVertexAnnotated.cpp:97</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_aec055660b5dadbed3d827fa78dc9ac75"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#aec055660b5dadbed3d827fa78dc9ac75">ompl::multilevel::BundleSpaceSequence::getTotalState</a></div><div class="ttdeci">ompl::base::State * getTotalState(int baseLevel, const base::State *baseState) const</div><div class="ttdoc">Starting from a baseState on baseLevel, we lift it iteratively upwards into the total space of the se...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequenceImpl_8h_source.html#l00347">BundleSpaceSequenceImpl.h:347</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PathPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1PathPtr.html">PathPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::Path.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1SpaceInformationPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1SpaceInformationPtr.html">SpaceInformationPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::SpaceInformation.</div></div>
<div class="ttc" id="anamespaceompl_1_1time_html_a4bbc20223e0b408d4a59f453a1ae7a25"><div class="ttname"><a href="namespaceompl_1_1time.html#a4bbc20223e0b408d4a59f453a1ae7a25">ompl::time::point</a></div><div class="ttdeci">std::chrono::system_clock::time_point point</div><div class="ttdoc">Representation of a point in time.</div><div class="ttdef"><b>Definition:</b> <a href="Time_8h_source.html#l00116">Time.h:116</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_a9294456febfb4d0b5e83797a81d736d7"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a9294456febfb4d0b5e83797a81d736d7">ompl::multilevel::BundleSpaceSequence::solve</a></div><div class="ttdeci">ompl::base::PlannerStatus solve(const ompl::base::PlannerTerminationCondition &ptc) override</div><div class="ttdoc">Function that can solve the motion planning problem. This function can be called multiple times on th...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequenceImpl_8h_source.html#l00180">BundleSpaceSequenceImpl.h:180</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1PlannerDataVertexAnnotated_html_aaa0bb497bd86ef39a433ee7362bec799"><div class="ttname"><a href="classompl_1_1multilevel_1_1PlannerDataVertexAnnotated.html#aaa0bb497bd86ef39a433ee7362bec799">ompl::multilevel::PlannerDataVertexAnnotated::getBaseState</a></div><div class="ttdeci">const ompl::base::State * getBaseState() const</div><div class="ttdoc">Returns base state, indepent of mode.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerDataVertexAnnotated_8cpp_source.html#l00120">PlannerDataVertexAnnotated.cpp:120</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html"><div class="ttname"><a href="classompl_1_1base_1_1State.html">ompl::base::State</a></div><div class="ttdoc">Definition of an abstract state.</div><div class="ttdef"><b>Definition:</b> <a href="State_8h_source.html#l00113">State.h:113</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_a56698b76ec788a8fb130e24b6beb3a6e"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a56698b76ec788a8fb130e24b6beb3a6e">ompl::multilevel::BundleSpaceSequence::setProblemDefinition</a></div><div class="ttdeci">virtual void setProblemDefinition(const ompl::base::ProblemDefinitionPtr &pdef) override</div><div class="ttdoc">Set the problem definition for the planner. The problem needs to be set before calling solve()....</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequenceImpl_8h_source.html#l00257">BundleSpaceSequenceImpl.h:257</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1PlannerDataVertexAnnotated_html"><div class="ttname"><a href="classompl_1_1multilevel_1_1PlannerDataVertexAnnotated.html">ompl::multilevel::PlannerDataVertexAnnotated</a></div><div class="ttdoc">An annotated vertex, adding information about its level in the multilevel hierarchy....</div><div class="ttdef"><b>Definition:</b> <a href="PlannerDataVertexAnnotated_8h_source.html#l00121">PlannerDataVertexAnnotated.h:121</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_ab5942a757c6f9c570862c915ae590b06"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#ab5942a757c6f9c570862c915ae590b06">ompl::multilevel::BundleSpace::setProblemDefinition</a></div><div class="ttdeci">virtual void setProblemDefinition(const ompl::base::ProblemDefinitionPtr &pdef) override</div><div class="ttdoc">Set the problem definition for the planner. The problem needs to be set before calling solve()....</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00206">BundleSpace.cpp:206</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerSolution_html"><div class="ttname"><a href="structompl_1_1base_1_1PlannerSolution.html">ompl::base::PlannerSolution</a></div><div class="ttdoc">Representation of a solution to a planning problem.</div><div class="ttdef"><b>Definition:</b> <a href="ProblemDefinition_8h_source.html#l00133">ProblemDefinition.h:133</a></div></div>
<div class="ttc" id="anamespaceompl_1_1time_html_a5da903c529cfbbce79900b7c1cbc6cc3"><div class="ttname"><a href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">ompl::time::now</a></div><div class="ttdeci">point now()</div><div class="ttdoc">Get the current time point.</div><div class="ttdef"><b>Definition:</b> <a href="Time_8h_source.html#l00122">Time.h:122</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_a7a45134c9fb9d99963be8a2f0896d093"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a7a45134c9fb9d99963be8a2f0896d093">ompl::multilevel::BundleSpaceSequence::bundleSpaces_</a></div><div class="ttdeci">std::vector< T * > bundleSpaces_</div><div class="ttdoc">Sequence of BundleSpaces.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequence_8h_source.html#l00154">BundleSpaceSequence.h:154</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a383876c22dd92deeed0a536c10f7ecd4"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a383876c22dd92deeed0a536c10f7ecd4">ompl::base::PlannerData::numEdges</a></div><div class="ttdeci">unsigned int numEdges() const</div><div class="ttdoc">Retrieve the number of edges in this structure.</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00207">PlannerData.cpp:207</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a620a03eebe49aa307140d6a4763278fd">ompl::base::PlannerStatus::TIMEOUT</a></div><div class="ttdeci">@ TIMEOUT</div><div class="ttdoc">The planner failed to find a solution.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00190">PlannerStatus.h:190</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a96f6bee45ab1ac1c3fd9b176bfa3864a"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a96f6bee45ab1ac1c3fd9b176bfa3864a">ompl::multilevel::BundleSpace::makeProjection</a></div><div class="ttdeci">bool makeProjection()</div><div class="ttdoc">Given bundle space and base space, try to guess the right.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00101">BundleSpace.cpp:101</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1GoalStates_html"><div class="ttname"><a href="classompl_1_1base_1_1GoalStates.html">ompl::base::GoalStates</a></div><div class="ttdoc">Definition of a set of goal states.</div><div class="ttdef"><b>Definition:</b> <a href="GoalStates_8h_source.html#l00113">GoalStates.h:113</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html">ompl::multilevel::BundleSpaceGraph</a></div><div class="ttdoc">A graph on a Bundle-space.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00120">BundleSpaceGraph.h:120</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a8a014cc299498f875efa2acafab5ce5d"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">ompl::multilevel::BundleSpace::getBundle</a></div><div class="ttdeci">const ompl::base::SpaceInformationPtr & getBundle() const</div><div class="ttdoc">Get SpaceInformationPtr for Bundle.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00323">BundleSpace.cpp:323</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a></div><div class="ttdoc">Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...</div><div class="ttdef"><b>Definition:</b> <a href="base_2PlannerData_8h_source.html#l00238">PlannerData.h:238</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1PlannerDataVertexAnnotated_html_a27850ed68cae9fc2f5f83559d36fbe7d"><div class="ttname"><a href="classompl_1_1multilevel_1_1PlannerDataVertexAnnotated.html#a27850ed68cae9fc2f5f83559d36fbe7d">ompl::multilevel::PlannerDataVertexAnnotated::setTotalState</a></div><div class="ttdeci">void setTotalState(ompl::base::State *s, ompl::base::SpaceInformationPtr si)</div><div class="ttdoc">Set total state, i.e. the lift of the base state to the total space (last Spaceinformationptr in sequ...</div><div class="ttdef"><b>Definition:</b> <a href="PlannerDataVertexAnnotated_8cpp_source.html#l00130">PlannerDataVertexAnnotated.cpp:130</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_af51f65f30042705ea11d04c13d3ba192"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#af51f65f30042705ea11d04c13d3ba192">ompl::multilevel::BundleSpaceSequence::BundleSpaceSequence</a></div><div class="ttdeci">BundleSpaceSequence(ompl::base::SpaceInformationPtr si, std::string type="BundleSpacePlannerNonMultilevel")</div><div class="ttdoc">Non-multilevel Mode: Calling with a single ompl::base::SpaceInformationPtr will revert to standard pl...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequenceImpl_8h_source.html#l00048">BundleSpaceSequenceImpl.h:48</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a1a70b5329364077bf6ba12e7a1061714"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">ompl::multilevel::BundleSpace::getProjection</a></div><div class="ttdeci">ProjectionPtr getProjection() const</div><div class="ttdoc">Get ProjectionPtr from Bundle to Base.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00226">BundleSpace.cpp:226</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerTerminationCondition_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a></div><div class="ttdoc">Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...</div><div class="ttdef"><b>Definition:</b> <a href="PlannerTerminationCondition_8h_source.html#l00127">PlannerTerminationCondition.h:127</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a877a673801134168cba0581b277cae79"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a877a673801134168cba0581b277cae79">ompl::base::PlannerData::numVertices</a></div><div class="ttdeci">unsigned int numVertices() const</div><div class="ttdoc">Retrieve the number of vertices in this structure.</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00202">PlannerData.cpp:202</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_ad26803bb97bb3886b96c14ede76b70c5"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#ad26803bb97bb3886b96c14ede76b70c5">ompl::multilevel::BundleSpaceSequence::getPlannerData</a></div><div class="ttdeci">virtual void getPlannerData(ompl::base::PlannerData &data) const override</div><div class="ttdoc">Return annotated vertices (with information about BundleSpace level)</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequenceImpl_8h_source.html#l00376">BundleSpaceSequenceImpl.h:376</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_aa005dad76ecddd6af0ade0164540ce0b"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#aa005dad76ecddd6af0ade0164540ce0b">ompl::multilevel::BundleSpaceSequence::clear</a></div><div class="ttdeci">virtual void clear() override</div><div class="ttdoc">Clear multilevel planner by clearing all levels.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequenceImpl_8h_source.html#l00162">BundleSpaceSequenceImpl.h:162</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div><div class="ttdoc">A class to store the exit status of Planner::solve()</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00112">PlannerStatus.h:112</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a454fb6c609dae1165257746519e374a0"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a454fb6c609dae1165257746519e374a0">ompl::multilevel::BundleSpace::setProjection</a></div><div class="ttdeci">void setProjection(ProjectionPtr projection)</div><div class="ttdoc">Set explicit projection (so that we do not need to guess.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00216">BundleSpace.cpp:216</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ProblemDefinitionPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1ProblemDefinitionPtr.html">ProblemDefinitionPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::ProblemDefinition.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_abebe83e30a20d7d79e26f18bf228e8bb"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#abebe83e30a20d7d79e26f18bf228e8bb">ompl::base::PlannerData::getVertex</a></div><div class="ttdeci">const PlannerDataVertex & getVertex(unsigned int index) const</div><div class="ttdoc">Retrieve a reference to the vertex object with the given index. If this vertex does not exist,...</div><div class="ttdef"><b>Definition:</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00212">PlannerData.cpp:212</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4ade0d7f4cb23b8bc223a19faa22089f44"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4ade0d7f4cb23b8bc223a19faa22089f44">ompl::base::PlannerStatus::INFEASIBLE</a></div><div class="ttdeci">@ INFEASIBLE</div><div class="ttdoc">The planner decided that problem is infeasible.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00200">PlannerStatus.h:200</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a59b0dd36930d0e1b6c418188b802a8c5"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a59b0dd36930d0e1b6c418188b802a8c5">ompl::multilevel::BundleSpace::getSolution</a></div><div class="ttdeci">virtual bool getSolution(ompl::base::PathPtr &solution)=0</div><div class="ttdoc">Return best solution.</div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_a0846c460d25a61fc9adbfb62ef85aed5"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a0846c460d25a61fc9adbfb62ef85aed5">ompl::multilevel::BundleSpaceSequence::setup</a></div><div class="ttdeci">virtual void setup() override</div><div class="ttdoc">Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequenceImpl_8h_source.html#l00151">BundleSpaceSequenceImpl.h:151</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4a20f8c901516c72e258d43d7156fe8e28">ompl::base::PlannerStatus::EXACT_SOLUTION</a></div><div class="ttdeci">@ EXACT_SOLUTION</div><div class="ttdoc">The planner found an exact solution.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00194">PlannerStatus.h:194</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1PlannerDataVertexAnnotated_html_ae6311141b886a0a5f05ea9f6832ef6e2"><div class="ttname"><a href="classompl_1_1multilevel_1_1PlannerDataVertexAnnotated.html#ae6311141b886a0a5f05ea9f6832ef6e2">ompl::multilevel::PlannerDataVertexAnnotated::setLevel</a></div><div class="ttdeci">void setLevel(unsigned int level_)</div><div class="ttdoc">The level of vertex in the bundle space hierarchy.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerDataVertexAnnotated_8cpp_source.html#l00087">PlannerDataVertexAnnotated.cpp:87</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_ae8af389dbcdf416e142dc2f1cf5a8829"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#ae8af389dbcdf416e142dc2f1cf5a8829">ompl::base::Planner::getPlannerData</a></div><div class="ttdeci">virtual void getPlannerData(PlannerData &data) const</div><div class="ttdoc">Get information about the current run of the motion planner. Repeated calls to this function will upd...</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8cpp_source.html#l00129">Planner.cpp:129</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html">ompl::multilevel::BundleSpace</a></div><div class="ttdoc">A single Bundle-space.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8h_source.html#l00131">BundleSpace.h:131</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a4f3ce74ab9e38119a662705ed0559bf2"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a4f3ce74ab9e38119a662705ed0559bf2">ompl::multilevel::BundleSpace::grow</a></div><div class="ttdeci">virtual void grow()=0</div><div class="ttdoc">Perform an iteration of the planner.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1GoalState_html"><div class="ttname"><a href="classompl_1_1base_1_1GoalState.html">ompl::base::GoalState</a></div><div class="ttdoc">Definition of a goal state.</div><div class="ttdef"><b>Definition:</b> <a href="GoalState_8h_source.html#l00112">GoalState.h:112</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1PlannerMultiLevel_html"><div class="ttname"><a href="classompl_1_1multilevel_1_1PlannerMultiLevel.html">ompl::multilevel::PlannerMultiLevel</a></div><div class="ttdoc">MultiLevel Planner Interface. Extends base::Planner by allowing sequences of base::SpaceInformationPt...</div><div class="ttdef"><b>Definition:</b> <a href="PlannerMultiLevel_8h_source.html#l00119">PlannerMultiLevel.h:119</a></div></div>
<div class="ttc" id="agroup__logging_html_ga05ad3ae88188e7f248748785afd2b882"><div class="ttname"><a href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a></div><div class="ttdeci">#define OMPL_ERROR(fmt,...)</div><div class="ttdoc">Log a formatted error string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00064">Console.h:64</a></div></div>
<div class="ttc" id="anamespaceompl_1_1base_html_a1620a159019faf720c550eeca5723f55"><div class="ttname"><a href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55">ompl::base::GoalType</a></div><div class="ttdeci">GoalType</div><div class="ttdoc">The type of goal.</div><div class="ttdef"><b>Definition:</b> <a href="GoalTypes_8h_source.html#l00109">GoalTypes.h:109</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1GoalRegion_html_a66e372802930500fceac120760e4dff2"><div class="ttname"><a href="classompl_1_1base_1_1GoalRegion.html#a66e372802930500fceac120760e4dff2">ompl::base::GoalRegion::getThreshold</a></div><div class="ttdeci">double getThreshold() const</div><div class="ttdoc">Get the distance to the goal that is allowed for a state to be considered in the goal region.</div><div class="ttdef"><b>Definition:</b> <a href="GoalRegion_8h_source.html#l00178">GoalRegion.h:178</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerSolution_html_aa06d5e3c877a5a7a6f5160f01a2f6d89"><div class="ttname"><a href="structompl_1_1base_1_1PlannerSolution.html#aa06d5e3c877a5a7a6f5160f01a2f6d89">ompl::base::PlannerSolution::setPlannerName</a></div><div class="ttdeci">void setPlannerName(const std::string &name)</div><div class="ttdoc">Set the name of the planner used to compute this solution.</div><div class="ttdef"><b>Definition:</b> <a href="ProblemDefinition_8h_source.html#l00169">ProblemDefinition.h:169</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_aa217a6f17d9fdc6c56c36ba4d6007f62"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#aa217a6f17d9fdc6c56c36ba4d6007f62">ompl::multilevel::BundleSpace::allocIdentityStateBundle</a></div><div class="ttdeci">ompl::base::State * allocIdentityStateBundle() const</div><div class="ttdoc">Allocate State, set entries to Identity/Zero.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00313">BundleSpace.cpp:313</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1GoalSampleableRegion_html"><div class="ttname"><a href="classompl_1_1base_1_1GoalSampleableRegion.html">ompl::base::GoalSampleableRegion</a></div><div class="ttdoc">Abstract definition of a goal region that can be sampled.</div><div class="ttdef"><b>Definition:</b> <a href="GoalSampleableRegion_8h_source.html#l00111">GoalSampleableRegion.h:111</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a428add084ed48c68645ee58cdc802f04"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a428add084ed48c68645ee58cdc802f04">ompl::multilevel::BundleSpace::isInfeasible</a></div><div class="ttdeci">virtual bool isInfeasible()</div><div class="ttdoc">Check if any infeasibility guarantees are fulfilled.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00369">BundleSpace.cpp:369</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html">ompl::multilevel::BundleSpaceSequence</a></div><div class="ttdoc">A planner for a sequence of BundleSpaces.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequence_8h_source.html#l00103">BundleSpaceSequence.h:103</a></div></div>
<div class="ttc" id="aclassompl_1_1Exception_html"><div class="ttname"><a href="classompl_1_1Exception.html">ompl::Exception</a></div><div class="ttdoc">The exception type for ompl.</div><div class="ttdef"><b>Definition:</b> <a href="Exception_8h_source.html#l00078">Exception.h:78</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_a06eeb65b76d15ca166ed92fdac721f9d"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a06eeb65b76d15ca166ed92fdac721f9d">ompl::multilevel::BundleSpaceSequence::setFindSectionStrategy</a></div><div class="ttdeci">void setFindSectionStrategy(FindSectionType type)</div><div class="ttdoc">Set strategy to use to solve the find section problem.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequenceImpl_8h_source.html#l00138">BundleSpaceSequenceImpl.h:138</a></div></div>
<div class="ttc" id="agroup__logging_html_ga576d0bc79b521f19c5415f330e2b173d"><div class="ttname"><a href="group__logging.html#ga576d0bc79b521f19c5415f330e2b173d">OMPL_DEBUG</a></div><div class="ttdeci">#define OMPL_DEBUG(fmt,...)</div><div class="ttdoc">Log a formatted debugging string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00070">Console.h:70</a></div></div>
<div class="ttc" id="anamespaceompl_1_1time_html_acac374ab4374adb207edb38cedb7fbb1"><div class="ttname"><a href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">ompl::time::seconds</a></div><div class="ttdeci">duration seconds(double sec)</div><div class="ttdoc">Return the time duration representing a given number of seconds.</div><div class="ttdef"><b>Definition:</b> <a href="Time_8h_source.html#l00128">Time.h:128</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_a9ed56702dfe698ea3d20eff7c98e7cef"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#a9ed56702dfe698ea3d20eff7c98e7cef">ompl::base::Planner::getProblemDefinition</a></div><div class="ttdeci">const ProblemDefinitionPtr & getProblemDefinition() const</div><div class="ttdoc">Get the problem definition the planner is trying to solve.</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8cpp_source.html#l00071">Planner.cpp:71</a></div></div>
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