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Geodesic.cpp
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36
37/* Author: Andreas Orthey */
38
39#include <ompl/multilevel/datastructures/metrics/Geodesic.h>
40#include <ompl/multilevel/datastructures/Projection.h>
41using namespace ompl::multilevel;
43
44BundleSpaceMetricGeodesic::BundleSpaceMetricGeodesic(BundleSpaceGraph *bundleSpaceGraph) : BaseT(bundleSpaceGraph)
45{
46}
47
48double BundleSpaceMetricGeodesic::distanceBundle(const Configuration *xStart, const Configuration *xDest)
49{
50 return bundleSpaceGraph_->getBundle()->distance(xStart->state, xDest->state);
51}
52
53double BundleSpaceMetricGeodesic::distanceFiber(const Configuration * /*xStart*/, const Configuration * /*xDest*/)
54{
55 throw "Computing distance along fiber requires explicit fiber space.";
56 return 0.0;
57}
58
59double BundleSpaceMetricGeodesic::distanceBase(const Configuration *xStart, const Configuration *xDest)
60{
61 if (bundleSpaceGraph_->getBaseDimension() > 0)
62 {
63 bundleSpaceGraph_->getProjection()->project(xStart->state, xBaseStartTmp_);
64 bundleSpaceGraph_->getProjection()->project(xDest->state, xBaseDestTmp_);
65 double d = bundleSpaceGraph_->getBase()->distance(xBaseStartTmp_, xBaseDestTmp_);
66 return d;
67 }
68 else
69 {
70 return 0.0;
71 }
72}
73
74void BundleSpaceMetricGeodesic::interpolateBundle(const Configuration *q_from, const Configuration *q_to,
75 const double step, Configuration *q_interp)
76{
77 bundleSpaceGraph_->getBundle()->getStateSpace()->interpolate(q_from->state, q_to->state, step, q_interp->state);
78}
A graph on a Bundle-space.
ProjectionPtr getProjection() const
Get ProjectionPtr from Bundle to Base.
unsigned int getBaseDimension() const
Dimension of Base Space.
const ompl::base::SpaceInformationPtr & getBundle() const
Get SpaceInformationPtr for Bundle.
const ompl::base::SpaceInformationPtr & getBase() const
Get SpaceInformationPtr for Base.
This namespace contains datastructures and planners to exploit multilevel abstractions,...