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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) 2020,</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Max Planck Institute for Intelligent Systems (MPI-IS).</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * * Neither the name of the MPI-IS nor the names</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * derived from this software without specific prior written</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</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="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> *********************************************************************/</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment">/* Author: Andreas Orthey */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <ompl/base/Planner.h></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <ompl/base/goals/GoalSampleableRegion.h></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/ProjectionFactory.h></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> {</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keyword">namespace </span>multilevel</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  {</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  OMPL_CLASS_FORWARD(BundleSpaceMetric);</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  OMPL_CLASS_FORWARD(Projection);</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  OMPL_CLASS_FORWARD(BundleSpacePropagator);</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">class </span>BundleSpace : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1Planner.html">ompl::base::Planner</a></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="keyword">private</span>:</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keyword">using</span> BaseT = <a class="code" href="classompl_1_1base_1_1Planner.html">ompl::base::Planner</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">BaseT::si_</a>; <span class="comment">// make it private.</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1base_1_1Planner.html#a7ebc11cf89b36261c01dd0592a350b88">BaseT::getSpaceInformation</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="comment">// Note: use getBundle(), or getBase()</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="comment">// to access the SpaceInformationPtr</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <a class="code" href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a> solve(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a> &ptc) <span class="keyword">override</span> <span class="keyword">final</span>;</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>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a6ea3b8ddd219e7827a78a81962ecc872">BundleSpace</a>(<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#a6ea3b8ddd219e7827a78a81962ecc872">BundleSpace</a> *baseSpace_ = <span class="keyword">nullptr</span>);</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>  <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a6ea3b8ddd219e7827a78a81962ecc872">BundleSpace</a>();</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">ompl::base::SpaceInformationPtr</a> &<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a8a014cc299498f875efa2acafab5ce5d">getBundle</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">ompl::base::SpaceInformationPtr</a> &<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#ad73cb9a191ea10d3e8db62ec0c3fbfc5">getBase</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  ProjectionPtr <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a1a70b5329364077bf6ba12e7a1061714">getProjection</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  </div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="comment">// projection.</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a96f6bee45ab1ac1c3fd9b176bfa3864a">makeProjection</a>();</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  </div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="comment">// projection)</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a454fb6c609dae1165257746519e374a0">setProjection</a>(ProjectionPtr projection);</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>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#ab5942a757c6f9c570862c915ae590b06">setProblemDefinition</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinitionPtr.html">ompl::base::ProblemDefinitionPtr</a> &pdef) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  </div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a4f3ce74ab9e38119a662705ed0559bf2">grow</a>() = 0;</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  </div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a59b0dd36930d0e1b6c418188b802a8c5">getSolution</a>(<a class="code" href="classompl_1_1base_1_1PathPtr.html">ompl::base::PathPtr</a> &solution) = 0;</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="comment">/* \brief Change the metric to be used on bundle space (default:</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="comment"> * intrinsic bundle space metric) */</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> setMetric(<span class="keyword">const</span> std::string &sMetric) = 0;</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>  <span class="comment">/* \brief Change the propagator to be used on bundle space (default:</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="comment"> * intrinsic bundle space propagator) */</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> setPropagator(<span class="keyword">const</span> std::string &sPropagator) = 0;</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="comment">/* \brief Return a sample from the current datastructure on the</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="comment"> * total space*/</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> sampleFromDatastructure(<a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *xBase) = 0;</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="comment">/* \brief Return a sample from bundle space (using restriction</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="comment"> * sampling) */</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> sampleBundle(<a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *xRandom);</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="comment">/* \brief Same as sampleBundle, but return a valid state */</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpace.html"> 131</a></span>  <span class="keywordtype">bool</span> sampleBundleValid(<a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *xRandom);</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">/* \brief Check if there exists a solution */</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> hasSolution();</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  </div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a428add084ed48c68645ee58cdc802f04">isInfeasible</a>();</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  </div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#ab617487432aef17eb637116caefded54">hasConverged</a>();</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>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a17bc273d461af6a05f9f5716dba47c24">clear</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a37874b2ca0ca976b61da46c8e0f47e44">setup</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  </div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="comment">// allocate computational resources)</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a807045e4cab90d6afd2a33069ba8efd4">getImportance</a>() <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  </div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#aa217a6f17d9fdc6c56c36ba4d6007f62">allocIdentityStateBundle</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *allocIdentityStateBase() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *allocIdentityState(<a class="code" href="classompl_1_1base_1_1StateSpacePtr.html">ompl::base::StateSpacePtr</a>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordtype">void</span> allocIdentityState(<a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *, <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html">ompl::base::StateSpacePtr</a>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  </div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a91bf5b33ea846104f518823a8cc5fc12">resetCounter</a>();</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  </div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a4134d7b54077ac0ef2d900e00016c4fa">getBaseDimension</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#aad021dc8123f1f11e21a52c6d59ccd38">getBundleDimension</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a4f4b5a549278c0142c85722a6e3c9070">getCoDimension</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  </div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html">ompl::base::StateSamplerPtr</a> &getBundleSamplerPtr() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html">ompl::base::StateSamplerPtr</a> &getBaseSamplerPtr() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  </div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a84a9b3481d9f8a285f932d4e7fbb97a5">getChild</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  </div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#acc7c2e44883e7bd04de3d9da59c2a19f">setChild</a>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *child);</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  </div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#aa7e322a2fb1cc44b5e511af0c307b5bf">getParent</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  </div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a4f51c437052d6760abc9f3736ab19749">setParent</a>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *parent);</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  </div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a216568fc1c5fd366af120660eeb96f98">hasParent</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  </div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#aaa343d7c86e2debc5cad8ba3e4936587">hasBaseSpace</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  </div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#afed3a77b33d3e6d24016f06b0b577feb">getLevel</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  </div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a1e714523e61a75bd7c993cad7e0a9c8a">setLevel</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>);</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  </div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#affd71932618b2f38873e9501c312d2b7">project</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *xBundle, <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *xBase) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  </div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a099f6d159a5c7367cfcd249091d1689f">lift</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *xBase, <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *xBundle) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  </div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <a class="code" href="classompl_1_1base_1_1OptimizationObjectivePtr.html">ompl::base::OptimizationObjectivePtr</a> getOptimizationObjectivePtr() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  </div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keyword">friend</span> std::ostream &<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#abdbfe2550a97d3f32e84e1040ea899f0">operator<<</a>(std::ostream &, <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> &);</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  </div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <span class="comment">/* \brief Check if the current bundle space is dynamic*/</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keywordtype">bool</span> isDynamic() <span class="keyword">const</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>  <span class="comment">/* \brief Get pointer to goal region on bundle space */</span></div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html">base::GoalSampleableRegion</a> *getGoalPtr() <span class="keyword">const</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>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> level_{0};</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  </div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="comment">//\brief Being on the k-th bundle space, we denote as baseSpace the k-1-th</span></div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="comment">// bundle space (because it locally acts as the base space for the current class)</span></div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *childBundleSpace_{<span class="keyword">nullptr</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>  <span class="comment">//\brief Being on the k-th bundle space, we denote as parentSpace the k+1-th</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="comment">// bundle space</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a6ea3b8ddd219e7827a78a81962ecc872">BundleSpace</a> *parentBundleSpace_{<span class="keyword">nullptr</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">/* \brief Total space of bundle */</span></div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">ompl::base::SpaceInformationPtr</a> totalSpace_{<span class="keyword">nullptr</span>};</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>  <span class="comment">/* \brief Base space of bundle */</span></div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">ompl::base::SpaceInformationPtr</a> baseSpace_{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  </div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="comment">/* \brief Pointer to uniform state sampler on total space */</span></div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html">ompl::base::StateSamplerPtr</a> Bundle_sampler_;</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <a class="code" href="classompl_1_1base_1_1ValidStateSamplerPtr.html">ompl::base::ValidStateSamplerPtr</a> Bundle_valid_sampler_;</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  </div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> findSection();</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  </div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  ProjectionPtr projection_;</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#ad177a04e74804b84ea405c10b7b3d62d">checkBundleSpaceMeasure</a>(std::string name, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html">ompl::base::StateSpacePtr</a> space) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  </div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#accfc2324063c811f90fe48f848e3adff">sanityChecks</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  </div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#aba53eb10bda696ee9ae962b5ff7a5bcb">print</a>(std::ostream &out) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  </div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a6cc3d599af788bdffa7f8237a845cd9f">xBaseTmp_</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#ad2a30b7eb53ad4831b2399d0584cbb65">xBundleTmp_</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  </div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="keyword">static</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a08a0f9b8ac0beef5e112739f5f555f91">counter_</a>;</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  </div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a599e4b58a5ac98b67453352f263cb268">id_</a>{0};</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  </div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a5ea7396973afee88972122c4afabac6b">hasSolution_</a>{<span class="keyword">false</span>};</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  </div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <span class="comment">// least once</span></div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#ac7cd7fdb6f7bbca9a2e299e6ab46b463">firstRun_</a>{<span class="keyword">true</span>};</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  </div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a1ba01182e7dfdbb61d69ee9496ac777e">isDynamic_</a>{<span class="keyword">false</span>};</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  </div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  BundleSpaceMetricPtr <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a7925713a683b52c73e9e1a7fe759afe2">metric_</a>;</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  </div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  BundleSpacePropagatorPtr <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a22850e71cfbbb5ce900ab21b74d25921">propagator_</a>;</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  };</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  } <span class="comment">// namespace multilevel</span></div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span> } <span class="comment">// namespace ompl</span></div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a7925713a683b52c73e9e1a7fe759afe2"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a7925713a683b52c73e9e1a7fe759afe2">ompl::multilevel::BundleSpace::metric_</a></div><div class="ttdeci">BundleSpaceMetricPtr metric_</div><div class="ttdoc">Metric on bundle space.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8h_source.html#l00373">BundleSpace.h:373</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_ad2a30b7eb53ad4831b2399d0584cbb65"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#ad2a30b7eb53ad4831b2399d0584cbb65">ompl::multilevel::BundleSpace::xBundleTmp_</a></div><div class="ttdeci">ompl::base::State * xBundleTmp_</div><div class="ttdoc">A temporary state on Bundle.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8h_source.html#l00354">BundleSpace.h:354</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a08a0f9b8ac0beef5e112739f5f555f91"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a08a0f9b8ac0beef5e112739f5f555f91">ompl::multilevel::BundleSpace::counter_</a></div><div class="ttdeci">static unsigned int counter_</div><div class="ttdoc">Internal counter to track multiple bundle spaces.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8h_source.html#l00357">BundleSpace.h:357</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html">ompl::base::Planner</a></div><div class="ttdoc">Base class for a planner.</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00279">Planner.h:279</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="aclassompl_1_1multilevel_1_1BundleSpace_html_afed3a77b33d3e6d24016f06b0b577feb"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#afed3a77b33d3e6d24016f06b0b577feb">ompl::multilevel::BundleSpace::getLevel</a></div><div class="ttdeci">unsigned int getLevel() const</div><div class="ttdoc">Level in hierarchy of Bundle-spaces.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00409">BundleSpace.cpp:409</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a6ea3b8ddd219e7827a78a81962ecc872"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a6ea3b8ddd219e7827a78a81962ecc872">ompl::multilevel::BundleSpace::BundleSpace</a></div><div class="ttdeci">BundleSpace(const ompl::base::SpaceInformationPtr &si, BundleSpace *baseSpace_=nullptr)</div><div class="ttdoc">Bundle Space contains three primary characters, the bundle space, the base space and the projection.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00060">BundleSpace.cpp:60</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_accfc2324063c811f90fe48f848e3adff"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#accfc2324063c811f90fe48f848e3adff">ompl::multilevel::BundleSpace::sanityChecks</a></div><div class="ttdeci">void sanityChecks() const</div><div class="ttdoc">Check if Bundle-space has correct structure.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00174">BundleSpace.cpp:174</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_ac7cd7fdb6f7bbca9a2e299e6ab46b463"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#ac7cd7fdb6f7bbca9a2e299e6ab46b463">ompl::multilevel::BundleSpace::firstRun_</a></div><div class="ttdeci">bool firstRun_</div><div class="ttdoc">Variable to check if this bundle space planner has been run at.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8h_source.html#l00367">BundleSpace.h:367</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_1base_1_1Planner_html_a7ebc11cf89b36261c01dd0592a350b88"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#a7ebc11cf89b36261c01dd0592a350b88">ompl::base::Planner::getSpaceInformation</a></div><div class="ttdeci">const SpaceInformationPtr & getSpaceInformation() const</div><div class="ttdoc">Get the space information this planner is using.</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8cpp_source.html#l00066">Planner.cpp:66</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_affd71932618b2f38873e9501c312d2b7"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#affd71932618b2f38873e9501c312d2b7">ompl::multilevel::BundleSpace::project</a></div><div class="ttdeci">void project(const ompl::base::State *xBundle, ompl::base::State *xBase) const</div><div class="ttdoc">Bundle Space Projection Operator onto first component ProjectBase: Bundle \rightarrow Base.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00464">BundleSpace.cpp:464</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a4f51c437052d6760abc9f3736ab19749"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a4f51c437052d6760abc9f3736ab19749">ompl::multilevel::BundleSpace::setParent</a></div><div class="ttdeci">void setParent(BundleSpace *parent)</div><div class="ttdoc">Pointer to k+1 th bundle space (locally the total space)</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00404">BundleSpace.cpp:404</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a37874b2ca0ca976b61da46c8e0f47e44"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a37874b2ca0ca976b61da46c8e0f47e44">ompl::multilevel::BundleSpace::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="BundleSpace_8cpp_source.html#l00134">BundleSpace.cpp:134</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a599e4b58a5ac98b67453352f263cb268"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a599e4b58a5ac98b67453352f263cb268">ompl::multilevel::BundleSpace::id_</a></div><div class="ttdeci">unsigned int id_</div><div class="ttdoc">Identity of space (to keep track of number of Bundle-spaces created)</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8h_source.html#l00360">BundleSpace.h:360</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="aclassompl_1_1base_1_1OptimizationObjectivePtr_html"><div class="ttname"><a href="classompl_1_1base_1_1OptimizationObjectivePtr.html">OptimizationObjectivePtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::OptimizationObjective.</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_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_1multilevel_1_1BundleSpace_html_ad73cb9a191ea10d3e8db62ec0c3fbfc5"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#ad73cb9a191ea10d3e8db62ec0c3fbfc5">ompl::multilevel::BundleSpace::getBase</a></div><div class="ttdeci">const ompl::base::SpaceInformationPtr & getBase() const</div><div class="ttdoc">Get SpaceInformationPtr for Base.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00328">BundleSpace.cpp:328</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_acc7c2e44883e7bd04de3d9da59c2a19f"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#acc7c2e44883e7bd04de3d9da59c2a19f">ompl::multilevel::BundleSpace::setChild</a></div><div class="ttdeci">void setChild(BundleSpace *child)</div><div class="ttdoc">Pointer to k-1 th bundle space (locally the base space)</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00394">BundleSpace.cpp:394</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_1multilevel_1_1BundleSpace_html_a91bf5b33ea846104f518823a8cc5fc12"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a91bf5b33ea846104f518823a8cc5fc12">ompl::multilevel::BundleSpace::resetCounter</a></div><div class="ttdeci">static void resetCounter()</div><div class="ttdoc">reset counter for number of levels</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00211">BundleSpace.cpp:211</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_1multilevel_1_1BundleSpace_html_a17bc273d461af6a05f9f5716dba47c24"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a17bc273d461af6a05f9f5716dba47c24">ompl::multilevel::BundleSpace::clear</a></div><div class="ttdeci">virtual void clear() override</div><div class="ttdoc">Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00164">BundleSpace.cpp:164</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a5ea7396973afee88972122c4afabac6b"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a5ea7396973afee88972122c4afabac6b">ompl::multilevel::BundleSpace::hasSolution_</a></div><div class="ttdeci">bool hasSolution_</div><div class="ttdoc">If there exists a solution.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8h_source.html#l00363">BundleSpace.h:363</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_aba53eb10bda696ee9ae962b5ff7a5bcb"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#aba53eb10bda696ee9ae962b5ff7a5bcb">ompl::multilevel::BundleSpace::print</a></div><div class="ttdeci">virtual void print(std::ostream &out) const</div><div class="ttdoc">Internal function implementing actual printing to stream.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00469">BundleSpace.cpp:469</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_ab617487432aef17eb637116caefded54"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#ab617487432aef17eb637116caefded54">ompl::multilevel::BundleSpace::hasConverged</a></div><div class="ttdeci">virtual bool hasConverged()</div><div class="ttdoc">Check if the current space can still be sampled.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00374">BundleSpace.cpp:374</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_aad021dc8123f1f11e21a52c6d59ccd38"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#aad021dc8123f1f11e21a52c6d59ccd38">ompl::multilevel::BundleSpace::getBundleDimension</a></div><div class="ttdeci">unsigned int getBundleDimension() const</div><div class="ttdoc">Dimension of Bundle Space.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00341">BundleSpace.cpp:341</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_1multilevel_1_1BundleSpace_html_aaa343d7c86e2debc5cad8ba3e4936587"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#aaa343d7c86e2debc5cad8ba3e4936587">ompl::multilevel::BundleSpace::hasBaseSpace</a></div><div class="ttdeci">bool hasBaseSpace() const</div><div class="ttdoc">Return if has base space pointer.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00114">BundleSpace.cpp:114</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a1ba01182e7dfdbb61d69ee9496ac777e"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a1ba01182e7dfdbb61d69ee9496ac777e">ompl::multilevel::BundleSpace::isDynamic_</a></div><div class="ttdeci">bool isDynamic_</div><div class="ttdoc">If the problem is dynamic or geometric.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8h_source.html#l00370">BundleSpace.h:370</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a4f4b5a549278c0142c85722a6e3c9070"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a4f4b5a549278c0142c85722a6e3c9070">ompl::multilevel::BundleSpace::getCoDimension</a></div><div class="ttdeci">unsigned int getCoDimension() const</div><div class="ttdoc">Dimension of Bundle Space - Dimension of Base Space.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00346">BundleSpace.cpp:346</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a4134d7b54077ac0ef2d900e00016c4fa"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a4134d7b54077ac0ef2d900e00016c4fa">ompl::multilevel::BundleSpace::getBaseDimension</a></div><div class="ttdeci">unsigned int getBaseDimension() const</div><div class="ttdoc">Dimension of Base Space.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00333">BundleSpace.cpp:333</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_1BundleSpace_html_a1e714523e61a75bd7c993cad7e0a9c8a"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a1e714523e61a75bd7c993cad7e0a9c8a">ompl::multilevel::BundleSpace::setLevel</a></div><div class="ttdeci">void setLevel(unsigned int)</div><div class="ttdoc">Change level in hierarchy.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00414">BundleSpace.cpp:414</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_1multilevel_1_1BundleSpace_html_a6cc3d599af788bdffa7f8237a845cd9f"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a6cc3d599af788bdffa7f8237a845cd9f">ompl::multilevel::BundleSpace::xBaseTmp_</a></div><div class="ttdeci">ompl::base::State * xBaseTmp_</div><div class="ttdoc">A temporary state on Base.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8h_source.html#l00352">BundleSpace.h:352</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a099f6d159a5c7367cfcd249091d1689f"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a099f6d159a5c7367cfcd249091d1689f">ompl::multilevel::BundleSpace::lift</a></div><div class="ttdeci">void lift(const ompl::base::State *xBase, ompl::base::State *xBundle) const</div><div class="ttdoc">Lift a state from Base to Bundle.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00459">BundleSpace.cpp:459</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_aa3ceb9471163b6c96f6eeadbcfd3694e"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">ompl::base::Planner::si_</a></div><div class="ttdeci">SpaceInformationPtr si_</div><div class="ttdoc">The space information for which planning is done.</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00474">Planner.h:474</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a84a9b3481d9f8a285f932d4e7fbb97a5"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a84a9b3481d9f8a285f932d4e7fbb97a5">ompl::multilevel::BundleSpace::getChild</a></div><div class="ttdeci">BundleSpace * getChild() const</div><div class="ttdoc">Return k-1 th bundle space (locally the base space)</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00389">BundleSpace.cpp:389</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a22850e71cfbbb5ce900ab21b74d25921"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a22850e71cfbbb5ce900ab21b74d25921">ompl::multilevel::BundleSpace::propagator_</a></div><div class="ttdeci">BundleSpacePropagatorPtr propagator_</div><div class="ttdoc">Propagator (steering or interpolation) on bundle space. Note: currently just a stub for base::StatePr...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8h_source.html#l00377">BundleSpace.h:377</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpacePtr_html"><div class="ttname"><a href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::StateSpace.</div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_aa7e322a2fb1cc44b5e511af0c307b5bf"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#aa7e322a2fb1cc44b5e511af0c307b5bf">ompl::multilevel::BundleSpace::getParent</a></div><div class="ttdeci">BundleSpace * getParent() const</div><div class="ttdoc">Return k+1 th bundle space (locally the total space)</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00399">BundleSpace.cpp:399</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSamplerPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::StateSampler.</div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a807045e4cab90d6afd2a33069ba8efd4"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a807045e4cab90d6afd2a33069ba8efd4">ompl::multilevel::BundleSpace::getImportance</a></div><div class="ttdeci">virtual double getImportance() const =0</div><div class="ttdoc">Compute importance of bundle space (to decide where to.</div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a216568fc1c5fd366af120660eeb96f98"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a216568fc1c5fd366af120660eeb96f98">ompl::multilevel::BundleSpace::hasParent</a></div><div class="ttdeci">bool hasParent() const</div><div class="ttdoc">Return if has parent space pointer.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00124">BundleSpace.cpp:124</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ValidStateSamplerPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1ValidStateSamplerPtr.html">ValidStateSamplerPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::ValidStateSampler.</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_1BundleSpace_html_abdbfe2550a97d3f32e84e1040ea899f0"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#abdbfe2550a97d3f32e84e1040ea899f0">ompl::multilevel::BundleSpace::operator<<</a></div><div class="ttdeci">friend std::ostream & operator<<(std::ostream &, const BundleSpace &)</div><div class="ttdoc">Write class to stream (use as std::cout << *this << std::endl)</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00478">BundleSpace.cpp:478</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_ad177a04e74804b84ea405c10b7b3d62d"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#ad177a04e74804b84ea405c10b7b3d62d">ompl::multilevel::BundleSpace::checkBundleSpaceMeasure</a></div><div class="ttdeci">void checkBundleSpaceMeasure(std::string name, const ompl::base::StateSpacePtr space) const</div><div class="ttdoc">Check if Bundle-space is bounded.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00190">BundleSpace.cpp:190</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
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