Program Listing for File PathSection.h

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/* Author: Andreas Orthey */

#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_SECTION__
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_SECTION__
#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
#include <ompl/util/ClassForward.h>

namespace ompl
{
    namespace multilevel
    {

        OMPL_CLASS_FORWARD(PathRestriction);
        OMPL_CLASS_FORWARD(Head);

        class PathSection
        {
        public:
            using Configuration = ompl::multilevel::BundleSpaceGraph::Configuration;

            PathSection() = delete;
            PathSection(PathRestriction *);
            virtual ~PathSection();

            void interpolateL2(HeadPtr &);

            void interpolateL1FiberFirst(HeadPtr &);

            void interpolateL1FiberLast(HeadPtr &);

            bool checkMotion(HeadPtr &);

            void sanityCheck();
            void sanityCheck(HeadPtr &);

            base::State *at(int k) const;
            const base::State *back() const;
            const base::State *front() const;
            unsigned int size() const;

            Configuration *addFeasibleSegment(Configuration *xLast, base::State *sNext);

            void addFeasibleGoalSegment(Configuration *xLast, Configuration *xGoal);

            friend std::ostream &operator<<(std::ostream &, const PathSection &);

            void print(std::ostream &) const;

        protected:
            PathRestriction *restriction_;

            std::vector<base::State *> section_;

            std::vector<int> sectionBaseStateIndices_;

            std::pair<base::State *, double> lastValid_;

            int lastValidIndexOnBasePath_;

            base::State *xBaseTmp_{nullptr};
            base::State *xBundleTmp_{nullptr};

            base::State *xFiberStart_{nullptr};
            base::State *xFiberGoal_{nullptr};
            base::State *xFiberTmp_{nullptr};
        };
    }
}
#endif