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<div class="title">AtlasStateSpace.cpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2014 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, Caleb Voss */</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">#include "ompl/base/spaces/constraint/AtlasStateSpace.h"</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include "ompl/base/spaces/constraint/AtlasChart.h"</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/SpaceInformation.h"</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include "ompl/util/Exception.h"</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</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"><a class="line" href="classompl_1_1base_1_1AtlasStateSampler.html#ad8a0fc7824b684b300bdb28dcea6de0d"> 47</a></span> <a class="code" href="classompl_1_1base_1_1AtlasStateSampler.html#ad8a0fc7824b684b300bdb28dcea6de0d">ompl::base::AtlasStateSampler::AtlasStateSampler</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html">AtlasStateSpace</a> *space) : <a class="code" href="classompl_1_1base_1_1StateSampler.html">StateSampler</a>(space), atlas_(space)</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> }</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSampler.html#acf6b11271ba004cd728c5914999af2c3"> 51</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSampler.html#acf6b11271ba004cd728c5914999af2c3">ompl::base::AtlasStateSampler::sampleUniform</a>(<a class="code" href="classompl_1_1base_1_1State.html">State</a> *state)</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">auto</span> astate = state-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">AtlasStateSpace::StateType</a>>();</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>  <span class="keyword">const</span> std::size_t k = atlas_->getManifoldDimension();</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  Eigen::VectorXd ru(k);</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *c;</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  </div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="comment">// Sampling a point on the manifold.</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tries = ompl::magic::ATLAS_STATE_SPACE_SAMPLES;</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">do</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  {</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="comment">// Rejection sampling to find a point inside a chart's polytope.</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keywordflow">do</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  {</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="comment">// Pick a chart.</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  c = atlas_->sampleChart();</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">// Sample a point within rho_s of the center. This is done by</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="comment">// sampling uniformly on the surface and multiplying by a dist</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="comment">// whose distribution is biased according to spherical volume.</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < k; ++i)</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  ru[i] = rng_.gaussian01();</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>  ru *= atlas_->getRho_s() * std::pow(rng_.uniform01(), 1.0 / k) / ru.norm();</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  } <span class="keywordflow">while</span> (tries-- > 0 && !c->inPolytope(ru));</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="comment">// Project. Will need to try again if this fails.</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  } <span class="keywordflow">while</span> (tries > 0 && !c->psi(ru, *astate));</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">if</span> (tries == 0)</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  {</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="comment">// Consider decreasing rho and/or the exploration paramter if this</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="comment">// becomes a problem.</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <a class="code" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::sampleUniform(): "</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="stringliteral">"Took too long; returning center of a random chart."</span>);</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  atlas_->copyState(astate, c->getOrigin());</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  }</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  </div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  space_->enforceBounds(state);</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="comment">// Extend polytope of neighboring chart wherever point is near the border.</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  c->psiInverse(*astate, ru);</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  c->borderCheck(ru);</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  astate->setChart(atlas_->owningChart(astate));</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> }</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  </div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSampler.html#af5aa235ae4f292ee1c7a4905066cff17"> 99</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSampler.html#af5aa235ae4f292ee1c7a4905066cff17">ompl::base::AtlasStateSampler::sampleUniformNear</a>(<a class="code" href="classompl_1_1base_1_1State.html">State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *near, <span class="keyword">const</span> <span class="keywordtype">double</span> dist)</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> {</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="comment">// Find the chart that the starting point is on.</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keyword">auto</span> astate = state-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">AtlasStateSpace::StateType</a>>();</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keyword">auto</span> anear = near-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">AtlasStateSpace::StateType</a>>();</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  </div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keyword">const</span> std::size_t k = atlas_->getManifoldDimension();</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  </div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  Eigen::VectorXd ru(k), uoffset(k);</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  </div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *c = atlas_->getChart(anear, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keywordflow">if</span> (c == <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  {</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::sampleUniformNear(): "</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="stringliteral">"Sampling failed because chart creation failed! Falling back to uniform sample."</span>);</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  sampleUniform(state);</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  }</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  </div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="comment">// Sample a point from the starting chart.</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  c->psiInverse(*anear, ru);</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tries = ompl::magic::ATLAS_STATE_SPACE_SAMPLES;</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordflow">do</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  {</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="comment">// Sample within dist</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < k; ++i)</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  uoffset[i] = ru[i] + rng_.gaussian01();</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  </div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  uoffset *= dist * std::pow(rng_.uniform01(), 1.0 / k) / uoffset.norm();</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  } <span class="keywordflow">while</span> (--tries > 0 && !c->psi(uoffset, *astate)); <span class="comment">// Try again if we can't project.</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keywordflow">if</span> (tries == 0)</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  {</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="comment">// Consider decreasing the dist argument if this becomes a</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="comment">// problem. Check planner code to see how it gets chosen.</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <a class="code" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"ompl::base:::AtlasStateSpace::sampleUniformNear(): "</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="stringliteral">"Took too long; returning initial point."</span>);</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  atlas_->copyState(state, near);</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  }</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  </div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  space_->enforceBounds(state);</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  </div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  c->psiInverse(*astate, ru);</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keywordflow">if</span> (!c->inPolytope(ru))</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  c = atlas_->getChart(astate, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  c->borderCheck(ru);</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  </div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  astate->setChart(c);</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> }</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  </div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSampler.html#ad1eb7ed1443bbabf3cc1797c2602a2a8"> 150</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSampler.html#ad1eb7ed1443bbabf3cc1797c2602a2a8">ompl::base::AtlasStateSampler::sampleGaussian</a>(<a class="code" href="classompl_1_1base_1_1State.html">State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *mean, <span class="keyword">const</span> <span class="keywordtype">double</span> stdDev)</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span> {</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keyword">auto</span> astate = state-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">AtlasStateSpace::StateType</a>>();</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keyword">auto</span> amean = mean-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">AtlasStateSpace::StateType</a>>();</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  </div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keyword">const</span> std::size_t k = atlas_->getManifoldDimension();</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  Eigen::VectorXd ru(k), rand(k);</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  </div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *c = atlas_->getChart(amean, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="keywordflow">if</span> (c == <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  {</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::sampleGaussian(): "</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="stringliteral">"Sampling failed because chart creation failed! Falling back to uniform sample."</span>);</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  sampleUniform(state);</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  }</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  </div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  c->psiInverse(*amean, ru);</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  </div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <span class="comment">// Sample a point in a normal distribution on the starting chart.</span></div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tries = ompl::magic::ATLAS_STATE_SPACE_SAMPLES;</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  </div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keywordflow">do</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  {</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < k; i++)</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  rand[i] = ru[i] + rng_.gaussian(0, stdDev);</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  } <span class="keywordflow">while</span> (--tries > 0 && !c->psi(rand, *astate)); <span class="comment">// Try again if we can't project.</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  </div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordflow">if</span> (tries == 0)</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  {</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <a class="code" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::sampleUniforGaussian(): "</span></div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="stringliteral">"Took too long; returning initial point."</span>);</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  atlas_->copyState(state, mean);</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  }</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  </div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  space_->enforceBounds(state);</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  </div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  c->psiInverse(*astate, ru);</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keywordflow">if</span> (!c->inPolytope(ru))</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  c = atlas_->getChart(astate, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  c->borderCheck(ru);</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  </div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  astate->setChart(c);</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</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>  </div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  </div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#ac9680d2943d722a9249dcfe9c2d68c95"> 200</a></span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#ac9680d2943d722a9249dcfe9c2d68c95">ompl::base::AtlasStateSpace::AtlasStateSpace</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="l00201"></a><span class="lineno"> 201</span>  <span class="keywordtype">bool</span> separate)</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  : <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html">ConstrainedStateSpace</a>(ambientSpace, constraint)</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  , biasFunction_([](<a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *) -> double { <span class="keywordflow">return</span> 1; })</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  , separate_(separate)</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> {</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  setRho(delta_ * ompl::magic::ATLAS_STATE_SPACE_RHO_MULTIPLIER);</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  setAlpha(ompl::magic::ATLAS_STATE_SPACE_ALPHA);</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  setExploration(ompl::magic::ATLAS_STATE_SPACE_EXPLORATION);</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>  setName(<span class="stringliteral">"Atlas"</span> + space_->getName());</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  </div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  chartNN_.setDistanceFunction(</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  [&](<span class="keyword">const</span> NNElement &e1, <span class="keyword">const</span> NNElement &e2) -> <span class="keywordtype">double</span> { <span class="keywordflow">return</span> distance(e1.first, e2.first); });</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> }</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  </div>
<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a1d8b2107cb33703c2113844955ff7007"> 216</a></span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a1d8b2107cb33703c2113844955ff7007">ompl::base::AtlasStateSpace::~AtlasStateSpace</a>()</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">// Delete anchors first so clear does no reinitialization.</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> anchor : anchors_)</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  freeState(anchor);</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>  anchors_.clear();</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  clear();</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>  </div>
<div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a11dc065788df57321c9699b56f3265d8"> 226</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a11dc065788df57321c9699b56f3265d8">ompl::base::AtlasStateSpace::clear</a>()</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">// Delete the non-anchor charts</span></div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> chart : charts_)</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keyword">delete</span> chart;</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  charts_.clear();</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  </div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  std::vector<NNElement> nnList;</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  chartNN_.list(nnList);</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &chart : nnList)</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  {</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *state = chart.first;</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  freeState(<span class="keyword">const_cast<</span><a class="code" href="classompl_1_1base_1_1State.html">State</a> *<span class="keyword">></span>(state));</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  }</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  </div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  chartNN_.clear();</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  chartPDF_.clear();</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  </div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="comment">// Reinstate the anchor charts</span></div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> anchor : anchors_)</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  newChart(anchor);</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  </div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a50701a7c829dbe5869376ad5eba1f601">ConstrainedStateSpace::clear</a>();</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span> }</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  </div>
<div class="line"><a name="l00251"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a7b811b3a8ac551d83063f6d08e5ba5fe"> 251</a></span> <a class="code" href="classompl_1_1base_1_1AtlasChart.html">ompl::base::AtlasChart</a> *<a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a7b811b3a8ac551d83063f6d08e5ba5fe">ompl::base::AtlasStateSpace::anchorChart</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *state)<span class="keyword"> const</span></div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="keyword">auto</span> anchor = cloneState(state)->as<<a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a>>();</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  anchors_.push_back(anchor);</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  </div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="comment">// This could fail with an exception. We cannot recover if that happens.</span></div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *chart = newChart(anchor);</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="keywordflow">if</span> (chart == <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::anchorChart(): "</span></div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="stringliteral">"Initial chart creation failed. Cannot proceed."</span>);</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  </div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <span class="keywordflow">return</span> chart;</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> }</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  </div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#acf67311c4c5c681e99fbf3b21e34bce4"> 265</a></span> <a class="code" href="classompl_1_1base_1_1AtlasChart.html">ompl::base::AtlasChart</a> *<a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#acf67311c4c5c681e99fbf3b21e34bce4">ompl::base::AtlasStateSpace::newChart</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a> *state)<span class="keyword"> const</span></div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *chart;</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a> *cstate = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  </div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="keywordflow">try</span></div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  {</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  cstate = cloneState(state)-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a>>();</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  chart = <span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a>(<span class="keyword">this</span>, cstate);</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  }</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <span class="keywordflow">catch</span> (<a class="code" href="classompl_1_1Exception.html">ompl::Exception</a> &e)</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>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::newChart(): "</span></div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="stringliteral">"Failed because manifold looks degenerate here."</span>);</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  </div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="keywordflow">if</span> (cstate != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  freeState(cstate);</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  </div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  }</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  </div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <span class="comment">// Ensure all charts respect boundaries of the new one, and vice versa, but</span></div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="comment">// only look at nearby ones (within 2*rho).</span></div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  <span class="keywordflow">if</span> (separate_)</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  {</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  std::vector<NNElement> nearbyCharts;</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  chartNN_.nearestR(std::make_pair(cstate, 0), 2 * rho_s_, nearbyCharts);</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  </div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &&near : nearbyCharts)</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  {</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *other = charts_[near.second];</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <a class="code" href="classompl_1_1base_1_1AtlasChart.html#ac7362faa11728b8b8777ec89bfea64a3">AtlasChart::generateHalfspace</a>(other, chart);</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  </div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  chartPDF_.update(chartPDF_.getElements()[near.second], biasFunction_(other));</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="l00301"></a><span class="lineno"> 301</span>  </div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  chartNN_.add(std::make_pair(cstate, charts_.size()));</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  charts_.push_back(chart);</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  chartPDF_.add(chart, biasFunction_(chart));</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>  <span class="keywordflow">return</span> chart;</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span> }</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  </div>
<div class="line"><a name="l00309"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a29d7d75c551537d5582440abf3bb36bf"> 309</a></span> <a class="code" href="classompl_1_1base_1_1AtlasChart.html">ompl::base::AtlasChart</a> *<a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a29d7d75c551537d5582440abf3bb36bf">ompl::base::AtlasStateSpace::sampleChart</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <span class="keywordflow">if</span> (charts_.empty())</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::sampleChart(): "</span></div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="stringliteral">"Atlas sampled before any charts were made. Use AtlasStateSpace::anchorChart() first."</span>);</div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  </div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <span class="keywordflow">return</span> chartPDF_.sample(rng_.uniform01());</div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span> }</div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  </div>
<div class="line"><a name="l00318"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#afb524fb0dc17a128e3662c12690e2292"> 318</a></span> <a class="code" href="classompl_1_1base_1_1AtlasChart.html">ompl::base::AtlasChart</a> *<a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#afb524fb0dc17a128e3662c12690e2292">ompl::base::AtlasStateSpace::getChart</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a> *state, <span class="keywordtype">bool</span> force, <span class="keywordtype">bool</span> *created)<span class="keyword"> const</span></div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  <a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *c = state-><a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#a9ee8e5973620bb16ae278eb1e4f45b3b">getChart</a>();</div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="keywordflow">if</span> (c == <span class="keyword">nullptr</span> || force)</div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  {</div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  c = owningChart(state);</div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  </div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <span class="keywordflow">if</span> (c == <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  {</div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  c = newChart(state);</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  <span class="keywordflow">if</span> (created != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  *created = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  }</div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  </div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <span class="keywordflow">if</span> (c != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  state-><a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#ac757ac98d6c7ffc78b86da02361f93dc">setChart</a>(c);</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  }</div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  </div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  <span class="keywordflow">return</span> c;</div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span> }</div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  </div>
<div class="line"><a name="l00339"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a39f3a4b97f115cbfabf154e29394d104"> 339</a></span> <a class="code" href="classompl_1_1base_1_1AtlasChart.html">ompl::base::AtlasChart</a> *<a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a39f3a4b97f115cbfabf154e29394d104">ompl::base::AtlasStateSpace::owningChart</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a> *state)<span class="keyword"> const</span></div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  Eigen::VectorXd u_t(k_);</div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  <span class="keyword">auto</span> temp = allocState()->as<<a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a>>();</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>  std::vector<NNElement> nearby;</div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  chartNN_.nearestR(std::make_pair(state, 0), rho_, nearby);</div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  </div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  <span class="keywordtype">double</span> best = epsilon_;</div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  <a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *chart = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> & near : nearby)</div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  {</div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="comment">// The point must lie in the chart's validity region and polytope</span></div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  <span class="keyword">auto</span> owner = charts_[near.second];</div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  owner-><a class="code" href="classompl_1_1base_1_1AtlasChart.html#ad85f550b77dadee97c78cf4fdf90b03f">psiInverse</a>(*state, u_t);</div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  owner->phi(u_t, *temp);</div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  </div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  <span class="keywordtype">double</span> far;</div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  <span class="keywordflow">if</span> (owner->inPolytope(u_t) <span class="comment">// in polytope</span></div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  && (far = distance(state, temp)) < epsilon_ <span class="comment">// within epsilon</span></div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  && far < best)</div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  {</div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  best = far;</div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  chart = owner;</div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  }</div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  }</div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  </div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  freeState(temp);</div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  <span class="keywordflow">return</span> chart;</div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span> }</div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  </div>
<div class="line"><a name="l00370"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a794b909f11eaabe07509aad2cf9c29c2"> 370</a></span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a794b909f11eaabe07509aad2cf9c29c2">ompl::base::AtlasStateSpace::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> interpolate,</div>
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  std::vector<ompl::base::State *> *geodesic)<span class="keyword"> const</span></div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  <span class="keyword">auto</span> &&svc = si_->getStateValidityChecker();</div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  </div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  <span class="comment">// We can't traverse the manifold if we don't start on it.</span></div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  <span class="keywordflow">if</span> (!constraint_->isSatisfied(from) || !(interpolate || svc->isValid(from)))</div>
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  </div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  <span class="keyword">auto</span> afrom = from-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a>>();</div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  <span class="keyword">auto</span> ato = to-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a>>();</div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  </div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  <span class="comment">// Try to get starting chart from `from` state.</span></div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  <a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *c = getChart(afrom);</div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <span class="keywordflow">if</span> (c == <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  </div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  <span class="comment">// Save a copy of the from state.</span></div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <span class="keywordflow">if</span> (geodesic != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  {</div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  geodesic->clear();</div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  geodesic->push_back(cloneState(from));</div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  }</div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  </div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  <span class="comment">// No need to traverse the manifold if we are already there</span></div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> tolerance = delta_;</div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> distTo = distance(from, to);</div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  <span class="keywordflow">if</span> (distTo <= tolerance)</div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  </div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  <span class="comment">// Traversal stops if the ball of radius distMax centered at x_from is left</span></div>
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> distMax = lambda_ * distTo;</div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  </div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  <span class="comment">// Create a scratch state to use for movement.</span></div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  <span class="keyword">auto</span> scratch = cloneState(from)->as<<a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a>>();</div>
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  <span class="keyword">auto</span> temp = allocState()-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a>>();</div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  </div>
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  <span class="comment">// Project from and to points onto the chart</span></div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  Eigen::VectorXd u_j(k_), u_b(k_);</div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  c->psiInverse(*scratch, u_j);</div>
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  c->psiInverse(*ato, u_b);</div>
<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  </div>
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  <span class="keywordtype">bool</span> done = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  std::size_t chartsCreated = 0;</div>
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  <span class="keywordtype">double</span> dist = 0;</div>
<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  </div>
<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  <span class="keywordtype">double</span> factor = 1;</div>
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  </div>
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  <span class="keywordflow">do</span></div>
<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  {</div>
<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  <span class="keywordflow">if</span> (factor < delta_)</div>
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  </div>
<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  <span class="comment">// Take a step towards the final state</span></div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  u_j += factor * delta_ * (u_b - u_j).normalized();</div>
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  </div>
<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  <span class="comment">// will also bork on non-finite numbers</span></div>
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  <span class="keyword">const</span> <span class="keywordtype">bool</span> onManifold = c->psi(u_j, *temp);</div>
<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  <span class="keywordflow">if</span> (!onManifold)</div>
<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  {</div>
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  done = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  }</div>
<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  </div>
<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> step = distance(scratch, temp);</div>
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  </div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  <span class="keywordflow">if</span> (step < std::numeric_limits<double>::epsilon())</div>
<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  </div>
<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  <span class="keyword">const</span> <span class="keywordtype">bool</span> exceedStepSize = step >= lambda_ * delta_;</div>
<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  <span class="keywordflow">if</span> (exceedStepSize)</div>
<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  {</div>
<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  factor *= backoff_;</div>
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  }</div>
<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  </div>
<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  dist += step;</div>
<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  </div>
<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  <span class="comment">// Update state</span></div>
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  copyState(scratch, temp);</div>
<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  scratch->setChart(c);</div>
<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  </div>
<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  <span class="keywordflow">if</span> (!(interpolate || svc->isValid(scratch)) <span class="comment">// not valid</span></div>
<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  || distance(from, scratch) > distMax <span class="comment">// exceed max dist</span></div>
<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  || dist > distMax <span class="comment">// exceed wandering</span></div>
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  || chartsCreated > maxChartsPerExtension_) <span class="comment">// exceed chart limit</span></div>
<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  {</div>
<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  done = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  }</div>
<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  </div>
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  <span class="comment">// Check if we left the validity region or polytope of the chart.</span></div>
<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  c->phi(u_j, *temp);</div>
<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  </div>
<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  <span class="comment">// Find or make a new chart if new state is off of current chart</span></div>
<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  <span class="keywordflow">if</span> (distance(scratch, temp) > epsilon_ <span class="comment">// exceeds epsilon</span></div>
<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  || delta_ / step < cos_alpha_ <span class="comment">// exceeds angle</span></div>
<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  || !c->inPolytope(u_j)) <span class="comment">// outside polytope</span></div>
<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  {</div>
<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  <span class="keywordtype">bool</span> created = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  <span class="keywordflow">if</span> ((c = getChart(scratch, <span class="keyword">true</span>, &created)) == <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  {</div>
<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Treating singularity as an obstacle."</span>);</div>
<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  done = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  }</div>
<div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  chartsCreated += created;</div>
<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  </div>
<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  <span class="comment">// Re-project onto the next chart.</span></div>
<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  c->psiInverse(*scratch, u_j);</div>
<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  c->psiInverse(*ato, u_b);</div>
<div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  }</div>
<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  </div>
<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  done = distance(scratch, to) <= delta_;</div>
<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  factor = 1;</div>
<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  </div>
<div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  <span class="comment">// Keep the state in a list, if requested.</span></div>
<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  <span class="keywordflow">if</span> (geodesic != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  geodesic->push_back(cloneState(scratch));</div>
<div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  </div>
<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  } <span class="keywordflow">while</span> (!done);</div>
<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  </div>
<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <span class="keyword">const</span> <span class="keywordtype">bool</span> ret = done && distance(to, scratch) <= delta_;</div>
<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  freeState(scratch);</div>
<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  freeState(temp);</div>
<div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  </div>
<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00497"></a><span class="lineno"> 497</span> }</div>
<div class="line"><a name="l00498"></a><span class="lineno"> 498</span>  </div>
<div class="line"><a name="l00499"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a2e5e052e74708d7f703d9e7969935fc9"> 499</a></span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a2e5e052e74708d7f703d9e7969935fc9">ompl::base::AtlasStateSpace::estimateFrontierPercent</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00500"></a><span class="lineno"> 500</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  <span class="keywordtype">double</span> frontier = 0;</div>
<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *c : charts_)</div>
<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  frontier += c->estimateIsFrontier() ? 1 : 0;</div>
<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  </div>
<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  <span class="keywordflow">return</span> (100 * frontier) / charts_.size();</div>
<div class="line"><a name="l00506"></a><span class="lineno"> 506</span> }</div>
<div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  </div>
<div class="line"><a name="l00508"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a6ce0a08ccb4c4b7c41eb83db20f98b65"> 508</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a6ce0a08ccb4c4b7c41eb83db20f98b65">ompl::base::AtlasStateSpace::printPLY</a>(std::ostream &out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00509"></a><span class="lineno"> 509</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  std::stringstream v, f;</div>
<div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  std::size_t vcount = 0;</div>
<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  std::size_t fcount = 0;</div>
<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  std::vector<Eigen::VectorXd> vertices;</div>
<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  <span class="keywordflow">for</span> (<a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *c : charts_)</div>
<div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  {</div>
<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  vertices.clear();</div>
<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  c->toPolygon(vertices);</div>
<div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  </div>
<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  std::stringstream poly;</div>
<div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  std::size_t fvcount = 0;</div>
<div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  <span class="keywordflow">for</span> (Eigen::VectorXd &vert : vertices)</div>
<div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  {</div>
<div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  v << vert.transpose() << <span class="stringliteral">"\n"</span>;</div>
<div class="line"><a name="l00524"></a><span class="lineno"> 524</span>  poly << vcount++ << <span class="stringliteral">" "</span>;</div>
<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  fvcount++;</div>
<div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  }</div>
<div class="line"><a name="l00527"></a><span class="lineno"> 527</span>  </div>
<div class="line"><a name="l00528"></a><span class="lineno"> 528</span>  <span class="keywordflow">if</span> (fvcount > 2)</div>
<div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  {</div>
<div class="line"><a name="l00530"></a><span class="lineno"> 530</span>  f << fvcount << <span class="stringliteral">" "</span> << poly.str() << <span class="stringliteral">"\n"</span>;</div>
<div class="line"><a name="l00531"></a><span class="lineno"> 531</span>  fcount += 1;</div>
<div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  }</div>
<div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  }</div>
<div class="line"><a name="l00534"></a><span class="lineno"> 534</span>  vertices.clear();</div>
<div class="line"><a name="l00535"></a><span class="lineno"> 535</span>  </div>
<div class="line"><a name="l00536"></a><span class="lineno"> 536</span>  out << <span class="stringliteral">"ply\n"</span>;</div>
<div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  out << <span class="stringliteral">"format ascii 1.0\n"</span>;</div>
<div class="line"><a name="l00538"></a><span class="lineno"> 538</span>  out << <span class="stringliteral">"element vertex "</span> << vcount << <span class="stringliteral">"\n"</span>;</div>
<div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  out << <span class="stringliteral">"property float x\n"</span>;</div>
<div class="line"><a name="l00540"></a><span class="lineno"> 540</span>  out << <span class="stringliteral">"property float y\n"</span>;</div>
<div class="line"><a name="l00541"></a><span class="lineno"> 541</span>  out << <span class="stringliteral">"property float z\n"</span>;</div>
<div class="line"><a name="l00542"></a><span class="lineno"> 542</span>  out << <span class="stringliteral">"element face "</span> << fcount << <span class="stringliteral">"\n"</span>;</div>
<div class="line"><a name="l00543"></a><span class="lineno"> 543</span>  out << <span class="stringliteral">"property list uchar int vertex_index\n"</span>;</div>
<div class="line"><a name="l00544"></a><span class="lineno"> 544</span>  out << <span class="stringliteral">"end_header\n"</span>;</div>
<div class="line"><a name="l00545"></a><span class="lineno"> 545</span>  out << v.str() << f.str();</div>
<div class="line"><a name="l00546"></a><span class="lineno"> 546</span> }</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_acf67311c4c5c681e99fbf3b21e34bce4"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#acf67311c4c5c681e99fbf3b21e34bce4">ompl::base::AtlasStateSpace::newChart</a></div><div class="ttdeci">AtlasChart * newChart(const StateType *state) const</div><div class="ttdoc">Create a new chart for the atlas, centered at xorigin, which should be on the manifold....</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00265">AtlasStateSpace.cpp:265</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_1_1StateType_html"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">ompl::base::AtlasStateSpace::StateType</a></div><div class="ttdoc">A state in an atlas represented as a real vector in ambient space and a chart that it belongs to.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00167">AtlasStateSpace.h:167</a></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_1AtlasChart_html_ad85f550b77dadee97c78cf4fdf90b03f"><div class="ttname"><a href="classompl_1_1base_1_1AtlasChart.html#ad85f550b77dadee97c78cf4fdf90b03f">ompl::base::AtlasChart::psiInverse</a></div><div class="ttdeci">void psiInverse(const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::Ref< Eigen::VectorXd > out) const</div><div class="ttdoc">Logarithmic mapping. Project ambient point x onto the chart and store the result in out,...</div><div class="ttdef"><b>Definition:</b> <a href="AtlasChart_8cpp_source.html#l00232">AtlasChart.cpp:232</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasChart_html_ac7362faa11728b8b8777ec89bfea64a3"><div class="ttname"><a href="classompl_1_1base_1_1AtlasChart.html#ac7362faa11728b8b8777ec89bfea64a3">ompl::base::AtlasChart::generateHalfspace</a></div><div class="ttdeci">static void generateHalfspace(AtlasChart *c1, AtlasChart *c2)</div><div class="ttdoc">Create two complementary halfspaces dividing the space between charts c1 and c2, and add them to the ...</div><div class="ttdef"><b>Definition:</b> <a href="AtlasChart_8cpp_source.html#l00369">AtlasChart.cpp:369</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSampler_html_af5aa235ae4f292ee1c7a4905066cff17"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSampler.html#af5aa235ae4f292ee1c7a4905066cff17">ompl::base::AtlasStateSampler::sampleUniformNear</a></div><div class="ttdeci">void sampleUniformNear(State *state, const State *near, double distance) override</div><div class="ttdoc">Sample a state uniformly from the ball with center near and radius distance. Return sample in state.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00099">AtlasStateSpace.cpp:99</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="base_2State_8h_source.html#l00113">State.h:113</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_1AtlasStateSpace_html_a11dc065788df57321c9699b56f3265d8"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a11dc065788df57321c9699b56f3265d8">ompl::base::AtlasStateSpace::clear</a></div><div class="ttdeci">void clear() override</div><div class="ttdoc">Reset the space (except for anchor charts).</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00226">AtlasStateSpace.cpp:226</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a7b811b3a8ac551d83063f6d08e5ba5fe"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a7b811b3a8ac551d83063f6d08e5ba5fe">ompl::base::AtlasStateSpace::anchorChart</a></div><div class="ttdeci">AtlasChart * anchorChart(const State *state) const</div><div class="ttdoc">Wrapper for newChart(). Charts created this way will persist through calls to clear().</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00251">AtlasStateSpace.cpp:251</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSampler_html_ad1eb7ed1443bbabf3cc1797c2602a2a8"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSampler.html#ad1eb7ed1443bbabf3cc1797c2602a2a8">ompl::base::AtlasStateSampler::sampleGaussian</a></div><div class="ttdeci">void sampleGaussian(State *state, const State *mean, double stdDev) override</div><div class="ttdoc">Sample a state uniformly from a normal distribution with given mean and stdDev. Return sample in stat...</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00150">AtlasStateSpace.cpp:150</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html_a6178474307b3f364184db9999a639af1"><div class="ttname"><a href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">ompl::base::State::as</a></div><div class="ttdeci">const T * as() const</div><div class="ttdoc">Cast this instance to a desired type.</div><div class="ttdef"><b>Definition:</b> <a href="base_2State_8h_source.html#l00162">State.h:162</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html">ompl::base::AtlasStateSpace</a></div><div class="ttdoc">ConstrainedStateSpace encapsulating a planner-agnostic atlas algorithm for planning on a constraint m...</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00159">AtlasStateSpace.h:159</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a29d7d75c551537d5582440abf3bb36bf"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a29d7d75c551537d5582440abf3bb36bf">ompl::base::AtlasStateSpace::sampleChart</a></div><div class="ttdeci">AtlasChart * sampleChart() const</div><div class="ttdoc">Pick a chart at random.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00309">AtlasStateSpace.cpp:309</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_1_1StateType_html_ac757ac98d6c7ffc78b86da02361f93dc"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#ac757ac98d6c7ffc78b86da02361f93dc">ompl::base::AtlasStateSpace::StateType::setChart</a></div><div class="ttdeci">void setChart(AtlasChart *c) const</div><div class="ttdoc">Set the chart c for the state.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00182">AtlasStateSpace.h:182</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="agroup__logging_html_gab76357dced39cb468d2061d3358f80a6"><div class="ttname"><a href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a></div><div class="ttdeci">#define OMPL_WARN(fmt,...)</div><div class="ttdoc">Log a formatted warning string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00066">Console.h:66</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasChart_html"><div class="ttname"><a href="classompl_1_1base_1_1AtlasChart.html">ompl::base::AtlasChart</a></div><div class="ttdoc">Tangent space and bounding polytope approximating some patch of the manifold.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasChart_8h_source.html#l00116">AtlasChart.h:116</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a6ce0a08ccb4c4b7c41eb83db20f98b65"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a6ce0a08ccb4c4b7c41eb83db20f98b65">ompl::base::AtlasStateSpace::printPLY</a></div><div class="ttdeci">void printPLY(std::ostream &out) const</div><div class="ttdoc">Write a mesh representation of the atlas to a stream.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00508">AtlasStateSpace.cpp:508</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSampler_html"><div class="ttname"><a href="classompl_1_1base_1_1StateSampler.html">ompl::base::StateSampler</a></div><div class="ttdoc">Abstract definition of a state space sampler.</div><div class="ttdef"><b>Definition:</b> <a href="StateSampler_8h_source.html#l00128">StateSampler.h:128</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_1AtlasStateSpace_html_a794b909f11eaabe07509aad2cf9c29c2"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a794b909f11eaabe07509aad2cf9c29c2">ompl::base::AtlasStateSpace::discreteGeodesic</a></div><div class="ttdeci">bool discreteGeodesic(const State *from, const State *to, bool interpolate=false, std::vector< State * > *geodesic=nullptr) const override</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 class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00370">AtlasStateSpace.cpp:370</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_1_1StateType_html_a9ee8e5973620bb16ae278eb1e4f45b3b"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#a9ee8e5973620bb16ae278eb1e4f45b3b">ompl::base::AtlasStateSpace::StateType::getChart</a></div><div class="ttdeci">AtlasChart * getChart() const</div><div class="ttdoc">Get the chart this state is on.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00176">AtlasStateSpace.h:176</a></div></div>
<div class="ttc" id="agroup__logging_html_ga05ad3ae88188e7f248748785afd2b882"><div class="ttname"><a href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a></div><div class="ttdeci">#define OMPL_ERROR(fmt,...)</div><div class="ttdoc">Log a formatted error string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00064">Console.h:64</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSampler_html_ad8a0fc7824b684b300bdb28dcea6de0d"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSampler.html#ad8a0fc7824b684b300bdb28dcea6de0d">ompl::base::AtlasStateSampler::AtlasStateSampler</a></div><div class="ttdeci">AtlasStateSampler(const AtlasStateSpace *space)</div><div class="ttdoc">AtlasStateSampler.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00047">AtlasStateSpace.cpp:47</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a1d8b2107cb33703c2113844955ff7007"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a1d8b2107cb33703c2113844955ff7007">ompl::base::AtlasStateSpace::~AtlasStateSpace</a></div><div class="ttdeci">~AtlasStateSpace() override</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00216">AtlasStateSpace.cpp:216</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_1AtlasStateSpace_html_a2e5e052e74708d7f703d9e7969935fc9"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a2e5e052e74708d7f703d9e7969935fc9">ompl::base::AtlasStateSpace::estimateFrontierPercent</a></div><div class="ttdeci">double estimateFrontierPercent() const</div><div class="ttdoc">Estimate what percentage of atlas charts do not have fully formed polytope boundaries,...</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00499">AtlasStateSpace.cpp:499</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a39f3a4b97f115cbfabf154e29394d104"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a39f3a4b97f115cbfabf154e29394d104">ompl::base::AtlasStateSpace::owningChart</a></div><div class="ttdeci">AtlasChart * owningChart(const StateType *state) const</div><div class="ttdoc">Find the chart to which x belongs. Returns nullptr if no chart found. Assumes x is already on the man...</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00339">AtlasStateSpace.cpp:339</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_ac9680d2943d722a9249dcfe9c2d68c95"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#ac9680d2943d722a9249dcfe9c2d68c95">ompl::base::AtlasStateSpace::AtlasStateSpace</a></div><div class="ttdeci">AtlasStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint, bool separate=true)</div><div class="ttdoc">Construct an atlas with the specified dimensions.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00200">AtlasStateSpace.cpp:200</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_afb524fb0dc17a128e3662c12690e2292"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#afb524fb0dc17a128e3662c12690e2292">ompl::base::AtlasStateSpace::getChart</a></div><div class="ttdeci">AtlasChart * getChart(const StateType *state, bool force=false, bool *created=nullptr) const</div><div class="ttdoc">Wrapper to return chart state belongs to. Will attempt to initialize new chart if state does not belo...</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00318">AtlasStateSpace.cpp:318</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSampler_html_acf6b11271ba004cd728c5914999af2c3"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSampler.html#acf6b11271ba004cd728c5914999af2c3">ompl::base::AtlasStateSampler::sampleUniform</a></div><div class="ttdeci">void sampleUniform(State *state) override</div><div class="ttdoc">Sample a state uniformly from the charted regions of the manifold. Return sample in state.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00051">AtlasStateSpace.cpp:51</a></div></div>
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