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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) 2017, Rice University</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 Rice University nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">* contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">* from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</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="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Zachary Kingston */</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="preprocessor">#ifndef OMPL_BASE_SPACES_CONSTRAINED_STATE_SPACE_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define OMPL_BASE_SPACES_CONSTRAINED_STATE_SPACE_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include "ompl/base/Constraint.h"</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include "ompl/base/StateSampler.h"</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include "ompl/base/ValidStateSampler.h"</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include "ompl/base/MotionValidator.h"</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include "ompl/base/spaces/WrapperStateSpace.h"</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include "ompl/base/SpaceInformation.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="preprocessor">#include <Eigen/Core></span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  </div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></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>  <span class="keyword">namespace </span>magic</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  {</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> CONSTRAINED_STATE_SPACE_DELTA = 0.05;</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> CONSTRAINED_STATE_SPACE_LAMBDA = 2.0;</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  }</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  </div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keyword">namespace </span>base</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</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>  OMPL_CLASS_FORWARD(ConstrainedStateSpace);</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keyword">class </span>ConstrainedMotionValidator : <span class="keyword">public</span> MotionValidator</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>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <a class="code" href="classompl_1_1base_1_1ConstrainedMotionValidator.html#aa065e7127ae1ce732cd23ca7e3642275">ConstrainedMotionValidator</a>(SpaceInformation *si);</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  </div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <a class="code" href="classompl_1_1base_1_1ConstrainedMotionValidator.html#aa065e7127ae1ce732cd23ca7e3642275">ConstrainedMotionValidator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">SpaceInformationPtr</a> &si);</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ConstrainedMotionValidator.html#a534eb8dfda829df2da4795352bc48d62">checkMotion</a>(<span class="keyword">const</span> State *s1, <span class="keyword">const</span> State *s2) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ConstrainedMotionValidator.html#a534eb8dfda829df2da4795352bc48d62">checkMotion</a>(<span class="keyword">const</span> State *s1, <span class="keyword">const</span> State *s2, std::pair<State *, double> &lastValid) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keyword">const</span> ConstrainedStateSpace &<a class="code" href="classompl_1_1base_1_1ConstrainedMotionValidator.html#ac01d9da7df42777a42072580bc7a1eea">ss_</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  };</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keyword">class </span>ConstrainedStateSpace : <span class="keyword">public</span> WrapperStateSpace</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>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keyword">enum</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab71679cb1f5d35230b54f33e86c6517d">SanityChecks</a></div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  {</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab71679cb1f5d35230b54f33e86c6517da2f124648bfd2bd72c0f2000997aa55b7">CONSTRAINED_STATESPACE_SAMPLERS</a> = (1 << 1),</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  </div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab71679cb1f5d35230b54f33e86c6517da1418b1544de813bf7808315a2ee6b9f8">CONSTRAINED_STATESPACE_GEODESIC_SATISFY</a> = (1 << 2),</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  </div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab71679cb1f5d35230b54f33e86c6517da343f05f800434d26bb238a08c2d57d40">CONSTRAINED_STATESPACE_GEODESIC_CONTINUITY</a> = (1 << 3),</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  </div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab71679cb1f5d35230b54f33e86c6517da52005a0a4c0e60385d53b9eca18a8b7e">CONSTRAINED_STATESPACE_GEODESIC_INTERPOLATE</a> = (1 << 4),</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  </div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab71679cb1f5d35230b54f33e86c6517da387aac313de41a4fa7df1d962ca234ec">CONSTRAINED_STATESPACE_JACOBIAN</a> = (1 << 5)</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="l00168"></a><span class="lineno"> 168</span>  <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">StateType</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">WrapperStateSpace::StateType</a>, <span class="keyword">public</span> Eigen::Map<Eigen::VectorXd></div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  {</div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab71679cb1f5d35230b54f33e86c6517d"> 170</a></span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html#ae0c16c1fcae871e86d22fd67e798cce0">StateType</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html">ConstrainedStateSpace</a> *space)</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  : <a class="code" href="classompl_1_1base_1_1WrapperStateSpace.html">WrapperStateSpace</a>::<a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">StateType</a>(space->getSpace()-><a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a706574802bed0fc539ee7c32011dc298">allocState</a>())</div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab71679cb1f5d35230b54f33e86c6517da2f124648bfd2bd72c0f2000997aa55b7"> 174</a></span>  , Eigen::Map<Eigen::VectorXd>(space-><a class="code" href="classompl_1_1base_1_1WrapperStateSpace.html#a9b27f4b6f21ddb60520f1fe72fa50b52">getValueAddressAtIndex</a>(this, 0), space-><a class="code" href="classompl_1_1base_1_1WrapperStateSpace.html#ad4c55cf67596c8dd0861ef6380178f24">getDimension</a>())</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</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="l00181"></a><span class="lineno"> 181</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html#a9c34bd251d98449b1fcb662dc3b9982d">copy</a>(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &other)</div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab71679cb1f5d35230b54f33e86c6517da343f05f800434d26bb238a08c2d57d40"> 182</a></span>  {</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="comment">// Explicitly cast and call `=` on the state as an</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="comment">// Eigen::Map<...>. This copies the other.</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="keyword">static_cast<</span>Eigen::Map<Eigen::VectorXd> *<span class="keyword">></span>(<span class="keyword">this</span>)-><span class="keyword">operator</span>=(other);</div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab71679cb1f5d35230b54f33e86c6517da52005a0a4c0e60385d53b9eca18a8b7e"> 186</a></span>  }</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>  </div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a9673ee354444d18a0c32d85f232e8382">ConstrainedStateSpace</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> &ambientSpace, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ConstraintPtr.html">ConstraintPtr</a> &constraint);</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  </div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#aa8283c37b80fbee9ecac85a7d7980e9a">isMetricSpace</a>()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html"> 200</a></span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  }</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  </div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a349cdde886586bc63b243c49176650ba">setSpaceInformation</a>(<a class="code" href="classompl_1_1base_1_1SpaceInformation.html">SpaceInformation</a> *si);</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  </div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ae79fac42f95ee2d8f8f28d74ab9fe602">setup</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  </div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a50701a7c829dbe5869376ad5eba1f601">clear</a>();</div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html#a9c34bd251d98449b1fcb662dc3b9982d"> 213</a></span>  </div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <a class="code" href="classompl_1_1base_1_1State.html">State</a> *<a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a706574802bed0fc539ee7c32011dc298">allocState</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  </div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a8e1324482598ba2c396877f9d86059a9">constrainedSanityChecks</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> flags) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  </div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#abe381e7751f329702e0a5906d5ae8a59">sanityChecks</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  </div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab53799358a1cc69a3f1e6a26c8dbaaf9">validSegmentCount</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a>* s1, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a>* s2)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1WrapperStateSpace.html#ada6102cb4e47614f270b160b0ba70402">distance</a>(s1, s2) * (1. / <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a84da2ea2a24f81f0c8f0407fe9e4309b">delta_</a>) * <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a6de1afc3140a0df5a8a659ee124883d1">lambda_</a>;</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="l00240"></a><span class="lineno"> 240</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a76c3278b1b6efdcd588a6609666281db">interpolate</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *from, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *to, <span class="keywordtype">double</span> t, <a class="code" href="classompl_1_1base_1_1State.html">State</a> *state) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  </div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a7945eeb749bed04c6f3a8bf39e3fcd9d">discreteGeodesic</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *from, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *to, <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a76c3278b1b6efdcd588a6609666281db">interpolate</a> = <span class="keyword">false</span>,</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  std::vector<State *> *geodesic = <span class="keyword">nullptr</span>) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  </div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="keyword">virtual</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *<a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a0e179bc674e590fe1eb44c344b1db528">geodesicInterpolate</a>(<span class="keyword">const</span> std::vector<State *> &geodesic, <span class="keywordtype">double</span> t) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  </div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ac4b381611fa84be9e6d0ff2870b11498">setDelta</a>(<span class="keywordtype">double</span> delta);</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  </div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a1327ddb0831627a49d289e22601453cf">setLambda</a>(<span class="keywordtype">double</span> lambda)</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="keywordflow">if</span> (lambda <= 1)</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::setLambda(): "</span></div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="stringliteral">"lambda must be > 1."</span>);</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a6de1afc3140a0df5a8a659ee124883d1">lambda_</a> = lambda;</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  }</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  </div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a18988282782c55e3a5b13eb16ff7c52d">getDelta</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a84da2ea2a24f81f0c8f0407fe9e4309b">delta_</a>;</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  }</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  </div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a3069963a553655a29ab4243c52d02854">getLambda</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a6de1afc3140a0df5a8a659ee124883d1">lambda_</a>;</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  }</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  </div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a985baf63acfd88159ca51afeae25e41e">getAmbientDimension</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#aa4c140b86a44c645d7ed1f30d4940b72">n_</a>;</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  }</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  </div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#afda550dbe902a7d22ab16a60f4653f52">getManifoldDimension</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ac26fa6580e0ffaa11c388bd19ba8e135">k_</a>;</div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  }</div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  </div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ConstraintPtr.html">ConstraintPtr</a> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a4a02e8865a0a45ac2eddce1d5b8248b4">getConstraint</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#aeef3f0a5675e4246ebcddb13a4f2b166">constraint_</a>;</div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  }</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  </div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  SpaceInformation *<a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ae715b570b104c090708de69d8c5da343">si_</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  </div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ConstraintPtr.html">ConstraintPtr</a> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#aeef3f0a5675e4246ebcddb13a4f2b166">constraint_</a>;</div>
<div class="line"><a name="l00322"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a3069963a553655a29ab4243c52d02854"> 322</a></span>  </div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#aa4c140b86a44c645d7ed1f30d4940b72">n_</a>;</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  </div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ac26fa6580e0ffaa11c388bd19ba8e135">k_</a>;</div>
<div class="line"><a name="l00328"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a985baf63acfd88159ca51afeae25e41e"> 328</a></span>  </div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a84da2ea2a24f81f0c8f0407fe9e4309b">delta_</a>;</div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  </div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a6de1afc3140a0df5a8a659ee124883d1">lambda_</a>{ompl::magic::CONSTRAINED_STATE_SPACE_LAMBDA};</div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  </div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a5263246afe2906dc44ed652da0a630c0">setup_</a>{<span class="keyword">false</span>};</div>
<div class="line"><a name="l00340"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a4a02e8865a0a45ac2eddce1d5b8248b4"> 340</a></span>  };</div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  }</div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span> }</div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  </div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_ae79fac42f95ee2d8f8f28d74ab9fe602"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#ae79fac42f95ee2d8f8f28d74ab9fe602">ompl::base::ConstrainedStateSpace::setup</a></div><div class="ttdeci">void setup() override</div><div class="ttdoc">Final setup for the space.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00225">ConstrainedStateSpace.cpp:225</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1SpaceInformation_html"><div class="ttname"><a href="classompl_1_1base_1_1SpaceInformation.html">ompl::base::SpaceInformation</a></div><div class="ttdoc">The base class for space information. This contains all the information about the space planning is d...</div><div class="ttdef"><b>Definition:</b> <a href="base_2SpaceInformation_8h_source.html#l00145">SpaceInformation.h:145</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_ab71679cb1f5d35230b54f33e86c6517da52005a0a4c0e60385d53b9eca18a8b7e"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab71679cb1f5d35230b54f33e86c6517da52005a0a4c0e60385d53b9eca18a8b7e">ompl::base::ConstrainedStateSpace::CONSTRAINED_STATESPACE_GEODESIC_INTERPOLATE</a></div><div class="ttdeci">@ CONSTRAINED_STATESPACE_GEODESIC_INTERPOLATE</div><div class="ttdoc">Check whether geodesicInterpolate(...) returns constraint satisfying states.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00186">ConstrainedStateSpace.h:186</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a4a02e8865a0a45ac2eddce1d5b8248b4"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a4a02e8865a0a45ac2eddce1d5b8248b4">ompl::base::ConstrainedStateSpace::getConstraint</a></div><div class="ttdeci">const ConstraintPtr getConstraint() const</div><div class="ttdoc">Returns the constraint that defines the underlying manifold.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00340">ConstrainedStateSpace.h:340</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_ab71679cb1f5d35230b54f33e86c6517d"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab71679cb1f5d35230b54f33e86c6517d">ompl::base::ConstrainedStateSpace::SanityChecks</a></div><div class="ttdeci">SanityChecks</div><div class="ttdoc">Flags used in a bit mask for constrained state space sanity checks, constraintSanityChecks().</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00170">ConstrainedStateSpace.h:170</a></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_1base_1_1ConstraintPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1ConstraintPtr.html">ConstraintPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::Constraint.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedMotionValidator_html_aa065e7127ae1ce732cd23ca7e3642275"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedMotionValidator.html#aa065e7127ae1ce732cd23ca7e3642275">ompl::base::ConstrainedMotionValidator::ConstrainedMotionValidator</a></div><div class="ttdeci">ConstrainedMotionValidator(SpaceInformation *si)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00045">ConstrainedStateSpace.cpp:45</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a76c3278b1b6efdcd588a6609666281db"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a76c3278b1b6efdcd588a6609666281db">ompl::base::ConstrainedStateSpace::interpolate</a></div><div class="ttdeci">void interpolate(const State *from, const State *to, double t, State *state) const override</div><div class="ttdoc">Find a state between from and to around time t, where t = 0 is from, and t = 1 is the final state rea...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00270">ConstrainedStateSpace.cpp:270</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a9673ee354444d18a0c32d85f232e8382"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a9673ee354444d18a0c32d85f232e8382">ompl::base::ConstrainedStateSpace::ConstrainedStateSpace</a></div><div class="ttdeci">ConstrainedStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint)</div><div class="ttdoc">Construct a constrained space from an ambientSpace and a constraint.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00102">ConstrainedStateSpace.cpp:102</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_ae715b570b104c090708de69d8c5da343"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#ae715b570b104c090708de69d8c5da343">ompl::base::ConstrainedStateSpace::si_</a></div><div class="ttdeci">SpaceInformation * si_</div><div class="ttdoc">SpaceInformation associated with this space. Required for early collision checking in manifold traver...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00350">ConstrainedStateSpace.h:350</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_1WrapperStateSpace_html_ada6102cb4e47614f270b160b0ba70402"><div class="ttname"><a href="classompl_1_1base_1_1WrapperStateSpace.html#ada6102cb4e47614f270b160b0ba70402">ompl::base::WrapperStateSpace::distance</a></div><div class="ttdeci">double distance(const State *state1, const State *state2) const override</div><div class="ttdoc">Computes distance between two states. This function satisfies the properties of a metric if isMetricS...</div><div class="ttdef"><b>Definition:</b> <a href="WrapperStateSpace_8h_source.html#l00338">WrapperStateSpace.h:338</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a50701a7c829dbe5869376ad5eba1f601"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a50701a7c829dbe5869376ad5eba1f601">ompl::base::ConstrainedStateSpace::clear</a></div><div class="ttdeci">virtual void clear()</div><div class="ttdoc">Clear any allocated memory from the state space.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00261">ConstrainedStateSpace.cpp:261</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1WrapperStateSpace_html_a9b27f4b6f21ddb60520f1fe72fa50b52"><div class="ttname"><a href="classompl_1_1base_1_1WrapperStateSpace.html#a9b27f4b6f21ddb60520f1fe72fa50b52">ompl::base::WrapperStateSpace::getValueAddressAtIndex</a></div><div class="ttdeci">double * getValueAddressAtIndex(State *state, unsigned int index) const override</div><div class="ttdoc">Many states contain a number of double values. This function provides a means to get the memory addre...</div><div class="ttdef"><b>Definition:</b> <a href="WrapperStateSpace_8h_source.html#l00386">WrapperStateSpace.h:386</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a6de1afc3140a0df5a8a659ee124883d1"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a6de1afc3140a0df5a8a659ee124883d1">ompl::base::ConstrainedStateSpace::lambda_</a></div><div class="ttdeci">double lambda_</div><div class="ttdoc">Manifold traversal from x to y is stopped if accumulated distance is greater than d(x,...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00368">ConstrainedStateSpace.h:368</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_1_1StateType_html_a9c34bd251d98449b1fcb662dc3b9982d"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html#a9c34bd251d98449b1fcb662dc3b9982d">ompl::base::ConstrainedStateSpace::StateType::copy</a></div><div class="ttdeci">void copy(const Eigen::Ref< const Eigen::VectorXd > &other)</div><div class="ttdoc">Copy the contents from a vector into this state. Uses the underlying copy operator used by Eigen for ...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00213">ConstrainedStateSpace.h:213</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a5263246afe2906dc44ed652da0a630c0"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a5263246afe2906dc44ed652da0a630c0">ompl::base::ConstrainedStateSpace::setup_</a></div><div class="ttdeci">bool setup_</div><div class="ttdoc">Whether setup() has been called.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00371">ConstrainedStateSpace.h:371</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a7945eeb749bed04c6f3a8bf39e3fcd9d"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a7945eeb749bed04c6f3a8bf39e3fcd9d">ompl::base::ConstrainedStateSpace::discreteGeodesic</a></div><div class="ttdeci">virtual bool discreteGeodesic(const State *from, const State *to, bool interpolate=false, std::vector< State * > *geodesic=nullptr) const =0</div><div class="ttdoc">Traverse the manifold from from toward to. Returns true if we reached to, and false if we stopped ear...</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a3069963a553655a29ab4243c52d02854"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a3069963a553655a29ab4243c52d02854">ompl::base::ConstrainedStateSpace::getLambda</a></div><div class="ttdeci">double getLambda() const</div><div class="ttdoc">Get lambda (see setLambda()).</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00322">ConstrainedStateSpace.h:322</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a18988282782c55e3a5b13eb16ff7c52d"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a18988282782c55e3a5b13eb16ff7c52d">ompl::base::ConstrainedStateSpace::getDelta</a></div><div class="ttdeci">double getDelta() const</div><div class="ttdoc">Get delta, the step size across the manifold.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00316">ConstrainedStateSpace.h:316</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a358860aabda701b73fb0fe01cbdfb0d3"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::StateSpace::StateType</a></div><div class="ttdeci">ompl::base::State StateType</div><div class="ttdoc">Define the type of state allocated by this space.</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8h_source.html#l00142">StateSpace.h:142</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_ac4b381611fa84be9e6d0ff2870b11498"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#ac4b381611fa84be9e6d0ff2870b11498">ompl::base::ConstrainedStateSpace::setDelta</a></div><div class="ttdeci">void setDelta(double delta)</div><div class="ttdoc">Set delta, the step size for traversing the manifold and collision checking. Default defined by ompl:...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00211">ConstrainedStateSpace.cpp:211</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a8e1324482598ba2c396877f9d86059a9"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a8e1324482598ba2c396877f9d86059a9">ompl::base::ConstrainedStateSpace::constrainedSanityChecks</a></div><div class="ttdeci">void constrainedSanityChecks(unsigned int flags) const</div><div class="ttdoc">Do some sanity checks relating to discrete geodesic computation and constraint satisfaction....</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00111">ConstrainedStateSpace.cpp:111</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a84da2ea2a24f81f0c8f0407fe9e4309b"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a84da2ea2a24f81f0c8f0407fe9e4309b">ompl::base::ConstrainedStateSpace::delta_</a></div><div class="ttdeci">double delta_</div><div class="ttdoc">Step size when traversing the manifold and collision checking.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00362">ConstrainedStateSpace.h:362</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_ac26fa6580e0ffaa11c388bd19ba8e135"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#ac26fa6580e0ffaa11c388bd19ba8e135">ompl::base::ConstrainedStateSpace::k_</a></div><div class="ttdeci">const unsigned int k_</div><div class="ttdoc">Manifold dimension.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00359">ConstrainedStateSpace.h:359</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_aa8283c37b80fbee9ecac85a7d7980e9a"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#aa8283c37b80fbee9ecac85a7d7980e9a">ompl::base::ConstrainedStateSpace::isMetricSpace</a></div><div class="ttdeci">bool isMetricSpace() const override</div><div class="ttdoc">Returns false as the implicit constrained configuration space defined by the constraint is not metric...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00231">ConstrainedStateSpace.h:231</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_aa4c140b86a44c645d7ed1f30d4940b72"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#aa4c140b86a44c645d7ed1f30d4940b72">ompl::base::ConstrainedStateSpace::n_</a></div><div class="ttdeci">const unsigned int n_</div><div class="ttdoc">Ambient space dimension.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00356">ConstrainedStateSpace.h:356</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_ab71679cb1f5d35230b54f33e86c6517da2f124648bfd2bd72c0f2000997aa55b7"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab71679cb1f5d35230b54f33e86c6517da2f124648bfd2bd72c0f2000997aa55b7">ompl::base::ConstrainedStateSpace::CONSTRAINED_STATESPACE_SAMPLERS</a></div><div class="ttdeci">@ CONSTRAINED_STATESPACE_SAMPLERS</div><div class="ttdoc">Check whether state samplers return constraint satisfying samples.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00174">ConstrainedStateSpace.h:174</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html">ompl::base::ConstrainedStateSpace</a></div><div class="ttdoc">A StateSpace that has a Constraint imposed upon it. Underlying space functions are passed to the ambi...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00165">ConstrainedStateSpace.h:165</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_ab71679cb1f5d35230b54f33e86c6517da343f05f800434d26bb238a08c2d57d40"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab71679cb1f5d35230b54f33e86c6517da343f05f800434d26bb238a08c2d57d40">ompl::base::ConstrainedStateSpace::CONSTRAINED_STATESPACE_GEODESIC_CONTINUITY</a></div><div class="ttdeci">@ CONSTRAINED_STATESPACE_GEODESIC_CONTINUITY</div><div class="ttdoc">Check whether discrete geodesics keep lambda_ * delta_ continuity.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00182">ConstrainedStateSpace.h:182</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1WrapperStateSpace_html_ad4c55cf67596c8dd0861ef6380178f24"><div class="ttname"><a href="classompl_1_1base_1_1WrapperStateSpace.html#ad4c55cf67596c8dd0861ef6380178f24">ompl::base::WrapperStateSpace::getDimension</a></div><div class="ttdeci">unsigned int getDimension() const override</div><div class="ttdoc">Get the dimension of the space (not the dimension of the surrounding ambient space)</div><div class="ttdef"><b>Definition:</b> <a href="WrapperStateSpace_8h_source.html#l00308">WrapperStateSpace.h:308</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedMotionValidator_html_a534eb8dfda829df2da4795352bc48d62"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedMotionValidator.html#a534eb8dfda829df2da4795352bc48d62">ompl::base::ConstrainedMotionValidator::checkMotion</a></div><div class="ttdeci">bool checkMotion(const State *s1, const State *s2) const override</div><div class="ttdoc">Return whether we can step from s1 to s2 along the manifold without collision.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00055">ConstrainedStateSpace.cpp:55</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a0e179bc674e590fe1eb44c344b1db528"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a0e179bc674e590fe1eb44c344b1db528">ompl::base::ConstrainedStateSpace::geodesicInterpolate</a></div><div class="ttdeci">virtual State * geodesicInterpolate(const std::vector< State * > &geodesic, double t) const</div><div class="ttdoc">Like interpolate(...), but interpolates between intermediate states already supplied in stateList fro...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00287">ConstrainedStateSpace.cpp:287</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_1_1StateType_html"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">ompl::base::ConstrainedStateSpace::StateType</a></div><div class="ttdoc">A State in a ConstrainedStateSpace, represented as a dense real vector of values. For convenience and...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00200">ConstrainedStateSpace.h:200</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_1base_1_1ConstrainedMotionValidator_html_ac01d9da7df42777a42072580bc7a1eea"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedMotionValidator.html#ac01d9da7df42777a42072580bc7a1eea">ompl::base::ConstrainedMotionValidator::ss_</a></div><div class="ttdeci">const ConstrainedStateSpace & ss_</div><div class="ttdoc">Space in which we check motion.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00122">ConstrainedStateSpace.h:122</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a706574802bed0fc539ee7c32011dc298"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a706574802bed0fc539ee7c32011dc298">ompl::base::ConstrainedStateSpace::allocState</a></div><div class="ttdeci">State * allocState() const override</div><div class="ttdoc">Allocate a new state in this space.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00265">ConstrainedStateSpace.cpp:265</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a985baf63acfd88159ca51afeae25e41e"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a985baf63acfd88159ca51afeae25e41e">ompl::base::ConstrainedStateSpace::getAmbientDimension</a></div><div class="ttdeci">unsigned int getAmbientDimension() const</div><div class="ttdoc">Returns the dimension of the ambient space.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00328">ConstrainedStateSpace.h:328</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a1327ddb0831627a49d289e22601453cf"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a1327ddb0831627a49d289e22601453cf">ompl::base::ConstrainedStateSpace::setLambda</a></div><div class="ttdeci">void setLambda(double lambda)</div><div class="ttdoc">Set lambda, where lambda * distance(x, y) is the maximum length of the geodesic x to y....</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00307">ConstrainedStateSpace.h:307</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_ab53799358a1cc69a3f1e6a26c8dbaaf9"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab53799358a1cc69a3f1e6a26c8dbaaf9">ompl::base::ConstrainedStateSpace::validSegmentCount</a></div><div class="ttdeci">unsigned int validSegmentCount(const State *s1, const State *s2) const override</div><div class="ttdoc">Return the valid segment count on the manifold, as valid segment count is determined by delta_ and la...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00258">ConstrainedStateSpace.h:258</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1WrapperStateSpace_html"><div class="ttname"><a href="classompl_1_1base_1_1WrapperStateSpace.html">ompl::base::WrapperStateSpace</a></div><div class="ttdoc">State space wrapper that transparently passes state space operations through to the underlying space....</div><div class="ttdef"><b>Definition:</b> <a href="WrapperStateSpace_8h_source.html#l00163">WrapperStateSpace.h:163</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_1base_1_1ConstrainedStateSpace_html_afda550dbe902a7d22ab16a60f4653f52"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#afda550dbe902a7d22ab16a60f4653f52">ompl::base::ConstrainedStateSpace::getManifoldDimension</a></div><div class="ttdeci">unsigned int getManifoldDimension() const</div><div class="ttdoc">Returns the dimension of the manifold.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00334">ConstrainedStateSpace.h:334</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_abe381e7751f329702e0a5906d5ae8a59"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#abe381e7751f329702e0a5906d5ae8a59">ompl::base::ConstrainedStateSpace::sanityChecks</a></div><div class="ttdeci">void sanityChecks() const override</div><div class="ttdoc">Perform both constrained and regular sanity checks.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00186">ConstrainedStateSpace.cpp:186</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_ab71679cb1f5d35230b54f33e86c6517da1418b1544de813bf7808315a2ee6b9f8"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab71679cb1f5d35230b54f33e86c6517da1418b1544de813bf7808315a2ee6b9f8">ompl::base::ConstrainedStateSpace::CONSTRAINED_STATESPACE_GEODESIC_SATISFY</a></div><div class="ttdeci">@ CONSTRAINED_STATESPACE_GEODESIC_SATISFY</div><div class="ttdoc">Check whether discrete geodesics satisfy the constraint at all points.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00178">ConstrainedStateSpace.h:178</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a349cdde886586bc63b243c49176650ba"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a349cdde886586bc63b243c49176650ba">ompl::base::ConstrainedStateSpace::setSpaceInformation</a></div><div class="ttdeci">void setSpaceInformation(SpaceInformation *si)</div><div class="ttdoc">Sets the space information for this state space. Required for collision checking in manifold traversa...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00198">ConstrainedStateSpace.cpp:198</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_1_1StateType_html_ae0c16c1fcae871e86d22fd67e798cce0"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html#ae0c16c1fcae871e86d22fd67e798cce0">ompl::base::ConstrainedStateSpace::StateType::StateType</a></div><div class="ttdeci">StateType(const ConstrainedStateSpace *space)</div><div class="ttdoc">Constructor. Requires space to setup information about underlying state.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00204">ConstrainedStateSpace.h:204</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_aeef3f0a5675e4246ebcddb13a4f2b166"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#aeef3f0a5675e4246ebcddb13a4f2b166">ompl::base::ConstrainedStateSpace::constraint_</a></div><div class="ttdeci">const ConstraintPtr constraint_</div><div class="ttdoc">Constraint function that defines the manifold.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00353">ConstrainedStateSpace.h:353</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>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_ab71679cb1f5d35230b54f33e86c6517da387aac313de41a4fa7df1d962ca234ec"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#ab71679cb1f5d35230b54f33e86c6517da387aac313de41a4fa7df1d962ca234ec">ompl::base::ConstrainedStateSpace::CONSTRAINED_STATESPACE_JACOBIAN</a></div><div class="ttdeci">@ CONSTRAINED_STATESPACE_JACOBIAN</div><div class="ttdoc">Check if the constraint's numerical Jacobian approximates its provided Jacobian.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00190">ConstrainedStateSpace.h:190</a></div></div>
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