-
Notifications
You must be signed in to change notification settings - Fork 1
Expand file tree
/
Copy pathBundleSpaceGraph_8h_source.html
More file actions
603 lines (601 loc) · 112 KB
/
BundleSpaceGraph_8h_source.html
File metadata and controls
603 lines (601 loc) · 112 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
<meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki">
<meta name="generator" content="Doxygen 1.8.17"/>
<title>ompl/multilevel/datastructures/BundleSpaceGraph.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script src="jquery.js"></script>
<script src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function() { init_search(); });
/* @license-end */
</script>
<script type="text/x-mathjax-config">
MathJax.Hub.Config({
extensions: ["tex2jax.js", "TeX/AMSmath.js", "TeX/AMSsymbols.js"],
jax: ["input/TeX","output/HTML-CSS"],
});
</script>
<script type="text/javascript" async="async" src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/MathJax.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
<link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/css/bootstrap.min.css" integrity="sha384-ggOyR0iXCbMQv3Xipma34MD+dH/1fQ784/j6cY/iJTQUOhcWr7x9JvoRxT2MZw1T" crossorigin="anonymous">
<link href="ompl.css" rel="stylesheet">
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<nav class="navbar navbar-expand-md fixed-top navbar-dark">
<a class="navbar-brand" href="./index.html">OMPL</a>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbar">
<span class="navbar-toggler-icon"></span>
</button>
<div class="collapse navbar-collapse" id="navbar">
<ul class="navbar-nav mr-auto">
<li class="nav-item"><a class="nav-link" href="download.html">Download</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="docDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Documentation</a>
<div class="dropdown-menu" aria-labelledby="docDropdown">
<a class="dropdown-item" href="https://ompl.kavrakilab.org/OMPL_Primer.pdf">Primer</a>
<a class="dropdown-item" href="installation.html">Installation</a>
<a class="dropdown-item" href="tutorials.html">Tutorials</a>
<a class="dropdown-item" href="group__demos.html">Demos</a>
<a class="dropdown-item omplapp" href="gui.html">OMPL.app GUI</a>
<a class="dropdown-item omplapp" href="webapp.html">OMPL web app</a>
<a class="dropdown-item" href="python.html">Python Bindings</a>
<a class="dropdown-item" href="planners.html">Available Planners</a>
<a class="dropdown-item" href="plannerTerminationConditions.html">Planner Termination Conditions</a>
<a class="dropdown-item" href="benchmark.html">Benchmarking Planners</a>
<a class="dropdown-item" href="spaces.html">Available State Spaces</a>
<a class="dropdown-item" href="optimalPlanning.html">Optimal Planning</a>
<a class="dropdown-item" href="constrainedPlanning.html">Constrained Planning</a>
<a class="dropdown-item" href="multiLevelPlanning.html">Multilevel Planning</a>
<a class="dropdown-item" href="FAQ.html">FAQ</a>
<div class="dropdown-divider"></div>
<div class="dropdown-header">External links</div>
<a class="dropdown-item" href="http://moveit.ros.org">MoveIt</a>
<a class="dropdown-item" href="http://plannerarena.org">Planner Arena</a>
<a class="dropdown-item" href="https://moveit.ros.org//moveit!/ros/2013/05/07/icra-motion-planning-tutorial.html">ICRA 2013 Tutorial</a>
<a class="dropdown-item" href="http://kavrakilab.org/iros2011/">IROS 2011 Tutorial</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="gallery.html">Gallery</a></li>
<li class="nav-item"><a class="nav-link" href="integration.html">OMPL Integrations</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="codeDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Code</a>
<div class="dropdown-menu" aria-labelledby="codeDropdown">
<a class="dropdown-item" href="api_overview.html">API Overview</a>
<a class="dropdown-item" href="annotated.html">Classes</a>
<a class="dropdown-item" href="files.html">Files</a>
<a class="dropdown-item" href="styleGuide.html">Style Guide</a>
<div class="dropdown-divider"></div>
<div class="dropdown-header">Repositories</div>
<a class="dropdown-item" href="https://github.com/ompl/ompl">ompl on GitHub</a>
<a class="dropdown-item" href="https://github.com/ompl/omplapp">omplapp on GitHub</a>
<div class="dropdown-divider"></div>
<div class="dropdown-header">Continuous Integration</div>
<a class="dropdown-item" href="https://travis-ci.org/ompl/ompl">ompl on Travis CI (Linux/macOS)</a>
<a class="dropdown-item" href="https://travis-ci.org/ompl/omplapp">omplapp on Travis CI (Linux/macOS)</a>
<a class="dropdown-item" href="https://ci.appveyor.com/project/mamoll/ompl">ompl on AppVeyor CI (Windows)</a>
<a class="dropdown-item" href="https://ci.appveyor.com/project/mamoll/omplapp">omplapp on AppVeyor CI (Windows)</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="https://github.com/ompl/ompl/issues">Issues</a></li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="communityDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Community</a>
<div class="dropdown-menu" aria-labelledby="communityDropdown">
<a class="dropdown-item" href="support.html">Get Support</a>
<a class="dropdown-item" href="developers.html">Developers/Contributors</a>
<a class="dropdown-item" href="contrib.html">Submit a Contribution</a>
<a class="dropdown-item" href="education.html">Education</a>
</div>
</li>
<li class="nav-item dropdown">
<a class="nav-link dropdown-toggle" href="#" id="aboutDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">About</a>
<div class="dropdown-menu" aria-labelledby="aboutDropdown">
<a class="dropdown-item" href="license.html">License</a>
<a class="dropdown-item" href="citations.html">Citations</a>
<a class="dropdown-item" href="acknowledgements.html">Acknowledgments</a>
</div>
</li>
<li class="nav-item"><a class="nav-link" href="https://ompl.kavrakilab.org/blog.html">Blog</a></li>
</ul>
<div id="MSearchBox" class="MSearchBoxInactive">
<span class="left">
<img id="MSearchSelect" src="search/mag_sel.png"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
alt=""/>
<input type="text" id="MSearchField" value="Search" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"
onkeyup="searchBox.OnSearchFieldChange(event)"/>
</span><span class="right">
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
</span>
</div>
</div>
</nav>
<div class="container" role="main">
<div>
<!-- Generated by Doxygen 1.8.17 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'Search');
/* @license-end */
</script>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="dir_efdc19d105c21b1223d5f8dc524071be.html">ompl</a></li><li class="navelem"><a class="el" href="dir_e9824f9f0e4e2d53f3e5916390fe4507.html">multilevel</a></li><li class="navelem"><a class="el" href="dir_ba940a874fbc6a207f82da095dbcfe6d.html">datastructures</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle">
<div class="title">BundleSpaceGraph.h</div> </div>
</div><!--header-->
<div class="contents">
<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) 2019, University of Stuttgart.</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 University of Stuttgart nor the names</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * derived from this software without specific prior written</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * permission.</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</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="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> *********************************************************************/</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment">/* Author: Andreas Orthey, Sohaib Akbar */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLEGRAPH_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLEGRAPH_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/BundleSpace.h></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/pathrestriction/FindSectionTypes.h></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <limits></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <ompl/geometric/planners/PlannerIncludes.h></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include <ompl/datastructures/NearestNeighbors.h></span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include <ompl/base/Cost.h></span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="preprocessor">#include <ompl/control/Control.h></span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="preprocessor">#include <ompl/datastructures/PDF.h></span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="preprocessor">#include <ompl/base/spaces/RealVectorStateSpace.h></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"> 51</span> <span class="preprocessor">#include <boost/pending/disjoint_sets.hpp></span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="preprocessor">#include <boost/graph/graph_traits.hpp></span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="preprocessor">#include <boost/graph/adjacency_list.hpp></span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="preprocessor">#include <boost/graph/random.hpp></span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="comment">// #include <boost/graph/subgraph.hpp> //Note: Everything would be nicer with</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="comment">// subgraphs, but there are still some bugs in the boost impl which prevent</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment">// us to use them here</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="preprocessor">#include <boost/graph/properties.hpp></span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="preprocessor">#include <boost/random/linear_congruential.hpp></span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="preprocessor">#include <boost/random/variate_generator.hpp></span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></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="keyword">namespace </span>base</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  {</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> dInf = std::numeric_limits<double>::infinity();</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  }</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keyword">namespace </span>multilevel</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  {</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  OMPL_CLASS_FORWARD(BundleSpaceImportance);</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  OMPL_CLASS_FORWARD(BundleSpaceGraphSampler);</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  OMPL_CLASS_FORWARD(PathRestriction);</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="keyword">namespace </span>geometric</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  {</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  OMPL_CLASS_FORWARD(PathSimplifier);</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  }</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="keyword">namespace </span>multilevel</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  {</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keyword">class </span>BundleSpaceGraph : <span class="keyword">public</span> BundleSpace</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  {</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keyword">using</span> BaseT = <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html#a6ea3b8ddd219e7827a78a81962ecc872">BundleSpace</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  </div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keyword">using</span> normalized_index_type = int;</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keyword">class </span><a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a></div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  {</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a>() = <span class="keyword">delete</span>;</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">ompl::base::SpaceInformationPtr</a> &si);</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">ompl::base::SpaceInformationPtr</a> &si, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *state_);</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *state{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <a class="code" href="classompl_1_1control_1_1Control.html">ompl::control::Control</a> *control{<span class="keyword">nullptr</span>};</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="keywordtype">unsigned</span> <span class="keywordtype">int</span> total_connection_attempts{0};</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> successful_connection_attempts{0};</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordtype">bool</span> on_shortest_path{<span class="keyword">false</span>};</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  </div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordtype">void</span> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a12b864cb560e7c3923fff460819e2469">pdf_element</a>;</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordtype">void</span> setPDFElement(<span class="keywordtype">void</span> *element_)</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  {</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a12b864cb560e7c3923fff460819e2469">pdf_element</a> = element_;</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  }</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordtype">void</span> *getPDFElement()</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="keywordflow">return</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a12b864cb560e7c3923fff460819e2469">pdf_element</a>;</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  }</div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html"> 120</a></span>  </div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordtype">bool</span> isStart{<span class="keyword">false</span>};</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordtype">bool</span> isGoal{<span class="keyword">false</span>};</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  </div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a3499c7e7e85ebb5cf9d1ffb6d86adc68">parent</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  </div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html"> 128</a></span>  <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a3e5eccb4cc1508d9822bd246f83c6316">cost</a>;</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a4874cdec19c07754ceca0863e751066a">lineCost</a>;</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  </div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  std::vector<Configuration *> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#ad7e21d890591a5f424f91d7bd3eff87f">children</a>;</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  </div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  normalized_index_type <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a21747759c6e5715675df75abd5decaa2">index</a>{-1};</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  </div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  normalized_index_type <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a41f15026dceabe5b51ac1c7ab390325c">representativeIndex</a>{-1};</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  </div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="comment">// boost::property<vertex_list_t, std::set<VertexIndexType>,</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  std::set<normalized_index_type> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a96dd7e84cdbe7480dba8c1f2faf3f6f3">nonInterfaceIndexList</a>;</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  </div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="comment">// boost::property<vertex_interface_list_t, std::unordered_map<VertexIndexType,</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="comment">// std::set<VertexIndexType>>></span></div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  std::unordered_map<normalized_index_type, std::set<normalized_index_type>> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a6a1b48173ded3503453fb3d926fabb88">interfaceIndexList</a>;</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  </div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  std::vector<Configuration *> reachableSet;</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  };</div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a3499c7e7e85ebb5cf9d1ffb6d86adc68"> 158</a></span>  </div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="keyword">class </span><a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1EdgeInternalState.html">EdgeInternalState</a></div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a3e5eccb4cc1508d9822bd246f83c6316"> 161</a></span>  {</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1EdgeInternalState.html">EdgeInternalState</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a4874cdec19c07754ceca0863e751066a"> 164</a></span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1EdgeInternalState.html">EdgeInternalState</a>(<a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> cost_) : cost(cost_){};</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1EdgeInternalState.html">EdgeInternalState</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1EdgeInternalState.html">EdgeInternalState</a> &eis)</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  {</div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#ad7e21d890591a5f424f91d7bd3eff87f"> 167</a></span>  cost = eis.cost;</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>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1EdgeInternalState.html">EdgeInternalState</a>& operator=(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1EdgeInternalState.html">EdgeInternalState</a> &eis)</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  {</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  cost = eis.cost;</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a21747759c6e5715675df75abd5decaa2"> 173</a></span>  }</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordtype">void</span> setWeight(<span class="keywordtype">double</span> d)</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  {</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  cost = <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a>(d);</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  }</div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a41f15026dceabe5b51ac1c7ab390325c"> 178</a></span>  <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> getCost()</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>  <span class="keywordflow">return</span> cost;</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  }</div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a96dd7e84cdbe7480dba8c1f2faf3f6f3"> 182</a></span>  </div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> cost{+ompl::base::dInf};</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  };</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  </div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a6a1b48173ded3503453fb3d926fabb88"> 187</a></span>  <span class="keyword">struct </span><a class="code" href="structompl_1_1multilevel_1_1BundleSpaceGraph_1_1GraphMetaData.html">GraphMetaData</a></div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  {</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  std::string name{<span class="stringliteral">"BundleSpaceGraph"</span>};</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  };</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  </div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a8297847c10b1e8fde38b1da21086f11f">Graph</a> = boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS, <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *,</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1EdgeInternalState.html">EdgeInternalState</a>, <a class="code" href="structompl_1_1multilevel_1_1BundleSpaceGraph_1_1GraphMetaData.html">GraphMetaData</a>>;</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="keyword">using</span> BGT = boost::graph_traits<Graph>;</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="keyword">using</span> Vertex = BGT::vertex_descriptor;</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="keyword">using</span> Edge = BGT::edge_descriptor;</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keyword">using</span> VertexIndex = BGT::vertices_size_type;</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keyword">using</span> IEIterator = BGT::in_edge_iterator;</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keyword">using</span> OEIterator = BGT::out_edge_iterator;</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <span class="keyword">using</span> VertexParent = Vertex;</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keyword">using</span> VertexRank = VertexIndex;</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keyword">using</span> RoadmapNeighborsPtr = std::shared_ptr<NearestNeighbors<Configuration *>>;</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1PDF.html">PDF</a> = <a class="code" href="classompl_1_1PDF.html">ompl::PDF<Configuration *></a>;</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keyword">using</span> <a class="code" href="classompl_1_1PDF_1_1Element.html">PDF_Element</a> = <a class="code" href="classompl_1_1PDF_1_1Element.html">PDF::Element</a>;</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  </div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html">BundleSpaceGraph</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">ompl::base::SpaceInformationPtr</a> &si, <a class="code" href="classompl_1_1multilevel_1_1BundleSpace.html">BundleSpace</a> *parent = <span class="keyword">nullptr</span>);</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html">BundleSpaceGraph</a>();</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  </div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="comment">/* \brief Number of vertices on boost graph */</span></div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getNumberOfVertices() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  </div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="comment">/* \brief Number of edges on boost graph */</span></div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getNumberOfEdges() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  </div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="structompl_1_1multilevel_1_1BundleSpaceGraph_1_1GraphMetaData.html"> 220</a></span>  <span class="comment">/* \brief A null vertex representing a non-existing vertex */</span></div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  Vertex nullVertex() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  </div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="comment">/* \brief One iteration of the growing the graph */</span></div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a9537072ddd641cfb51d4cc9f594fffc7">grow</a>() <span class="keyword">override</span> = 0;</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  </div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="comment">/* \brief Sample from the graph (used in restriction sampling for</span></div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span> <span class="comment"> * parent bundle space) */</span></div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keywordtype">void</span> sampleFromDatastructure(<a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  </div>
<div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a8297847c10b1e8fde38b1da21086f11f"> 230</a></span>  <span class="comment">/* \brief as sampleBundle() but with goal bias */</span></div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> sampleBundleGoalBias(<a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *xRandom);</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>  <span class="comment">/* \brief Check that there exist a path on graph */</span></div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0dba6b9849b1297dd0905ced2e5910b9">getSolution</a>(<a class="code" href="classompl_1_1base_1_1PathPtr.html">ompl::base::PathPtr</a> &solution) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  </div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="comment">/* \brief Return best cost path on graph (as reference) */</span></div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keyword">virtual</span> <a class="code" href="classompl_1_1base_1_1PathPtr.html">ompl::base::PathPtr</a> &getSolutionPathByReference();</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ae6ecd9f14713bc1e10f0861850ce3630">getPlannerData</a>(<a class="code" href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a> &data) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  </div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="comment">/* \brief Given graph, fill in the ompl::base::PlannerData structure */</span></div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keywordtype">void</span> getPlannerDataGraph(<a class="code" href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a> &data, <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a8297847c10b1e8fde38b1da21086f11f">Graph</a> &graph, <span class="keyword">const</span> Vertex vStart) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  </div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a508896ae80998fd7d6d55e35ed6a5bf2">getImportance</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  </div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a64c5ecaccc7e38fbc0e80deabafb7e82">init</a>();</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  </div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aea0627bc0ebdff95891bb194b0dd0bd4">setup</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a28fa657a77354663740fc808ce370a45">clear</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  </div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="comment">/* \brief Delete all vertices and their attached configurations */</span></div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> clearVertices();</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  </div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="comment">/* \brief Delete a configuration and free its state */</span></div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> deleteConfiguration(<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *q);</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  </div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="comment">/* \brief Create nearest neighbors structure */</span></div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <span class="keyword">template</span> <<span class="keyword">template</span> <<span class="keyword">typename</span> T> <span class="keyword">class </span>NN></div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="keywordtype">void</span> setNearestNeighbors();</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  </div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="comment">/* \brief Unite two components */</span></div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="keywordtype">void</span> uniteComponents(Vertex m1, Vertex m2);</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="comment">/* \brief Check if both vertices are in the same component */</span></div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="keywordtype">bool</span> sameComponent(Vertex m1, Vertex m2);</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  std::map<Vertex, VertexRank> vrank;</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  std::map<Vertex, Vertex> vparent;</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  boost::disjoint_sets<boost::associative_property_map<std::map<Vertex, VertexRank>>,</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  boost::associative_property_map<std::map<Vertex, Vertex>>></div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  disjointSets_{boost::make_assoc_property_map(vrank), boost::make_assoc_property_map(vparent)};</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  </div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="comment">/* \brief Get nearest configuration to configuration s */</span></div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *nearest(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *s) <span class="keyword">const</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="comment">/* \brief Set metric to be used for growing graph */</span></div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <span class="keywordtype">void</span> setMetric(<span class="keyword">const</span> std::string &sMetric) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <span class="keywordtype">void</span> setPropagator(<span class="keyword">const</span> std::string &sPropagator) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> setImportance(<span class="keyword">const</span> std::string &sImportance);</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> setGraphSampler(<span class="keyword">const</span> std::string &sGraphSampler);</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">/* \brief Set strategy to solve the find section problem */</span></div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> setFindSectionStrategy(FindSectionType type);</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  </div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <span class="comment">/* \brief Get current graph sampler */</span></div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  BundleSpaceGraphSamplerPtr getGraphSampler();</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  </div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">base::Cost</a> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a6137b49fdfdd7b1fa78c4062f5134779">bestCost_</a>{+base::dInf};</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>  <span class="comment">/* \brief Best cost path on graph as vertex representation */</span></div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  std::vector<Vertex> shortestVertexPath_;</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  </div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <span class="keyword">virtual</span> Graph &<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a9d6d602ce41aad13816d921f614f475b">getGraphNonConst</a>();</div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  <span class="keyword">virtual</span> <span class="keyword">const</span> Graph &<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#abc285cc6e0ec45d14b382fd1f024c0e6">getGraph</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  </div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <span class="keyword">const</span> RoadmapNeighborsPtr &getRoadmapNeighborsPtr() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  </div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac6c48f0bd45ba92bc2329620049352eb">print</a>(std::ostream &out) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  </div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4a4fa56792faf06ff5b7a2a02f518b8e">writeToGraphviz</a>(std::string filename) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  </div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a98a915de831599f05406e62c225b7445">printConfiguration</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  </div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  <span class="keywordtype">void</span> setGoalBias(<span class="keywordtype">double</span> goalBias);</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  </div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="keywordtype">double</span> getGoalBias() <span class="keyword">const</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"> 318</span>  <span class="keywordtype">void</span> setRange(<span class="keywordtype">double</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aabdbde642d2e9c07bd5abbaaa09d6058">distance</a>);</div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  </div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  <span class="keywordtype">double</span> getRange() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  </div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  <a class="code" href="classompl_1_1base_1_1PathPtr.html">ompl::base::PathPtr</a> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a56aa7888ea79fe9bdb049a33956d283c">getPath</a>(<span class="keyword">const</span> Vertex &start, <span class="keyword">const</span> Vertex &goal);</div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <a class="code" href="classompl_1_1base_1_1PathPtr.html">ompl::base::PathPtr</a> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a56aa7888ea79fe9bdb049a33956d283c">getPath</a>(<span class="keyword">const</span> Vertex &start, <span class="keyword">const</span> Vertex &goal, Graph &graph);</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  </div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aabdbde642d2e9c07bd5abbaaa09d6058">distance</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *a, <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *b) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aac5d62baa6a151b402c363487623a2f9">checkMotion</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *a, <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *b) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  </div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a04603eff11e06b615d7ece0e1f02fad9">connect</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *from, <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *to);</div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  </div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5d867386251dcea98f1ebd941f7be7dd">steerTowards</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *from, <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *to);</div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  </div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a50904fba20f43ac7bc233f3ffde8eb16">steerTowards_Range</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *from, <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *to);</div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  </div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a184184689569610b0976bca91a5ef09e">extendGraphTowards_Range</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *from, <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *to);</div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  </div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a88dbfeb26a7eaf4116cf50b6e4c87727">interpolate</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *a, <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *b, <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *dest) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  </div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  <span class="keyword">virtual</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a960aec96f564afb73a395cd4e7bbb747">addBundleConfiguration</a>(<a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *);</div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  </div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  <span class="keyword">virtual</span> Vertex <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2e30391590cc20b303bf132a94f414e5">addConfiguration</a>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *q);</div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac55d7bd5c6a1ff55ed26df900d6aea16">addGoalConfiguration</a>(<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *x);</div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  </div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aa9a011d8547380113d1fb2c2b414489d">addBundleEdge</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *a, <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *b);</div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  </div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="keyword">virtual</span> <span class="keyword">const</span> std::pair<Edge, bool> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a55c5d6431a21d6c8b772b81cdc8a67fa">addEdge</a>(<span class="keyword">const</span> Vertex a, <span class="keyword">const</span> Vertex b);</div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  </div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  <span class="keyword">virtual</span> Vertex <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a86e04bdab5ff70826b5926c554de0b97">getStartIndex</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="keyword">virtual</span> Vertex <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#af899f7a961475698d38406d09e9f7765">getGoalIndex</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5d797eae0df850b19da56dde23c7b76a">setStartIndex</a>(Vertex);</div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  </div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#acea8da5111cfdeeb3e22abbd2e739bb8">findSection</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  </div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  <a class="code" href="classompl_1_1base_1_1PathPtr.html">ompl::base::PathPtr</a> solutionPath_;</div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  </div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  Vertex vStart_;</div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  </div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  <a class="code" href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a> costHeuristic(Vertex u, Vertex v) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  </div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  RoadmapNeighborsPtr <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">nearestDatastructure_</a>;</div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  Graph graph_;</div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numVerticesWhenComputingSolutionPath_{0};</div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  RNG rng_;</div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  <span class="keyword">using</span> RNGType = boost::minstd_rand;</div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  RNGType rng_boost;</div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  </div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aeb851be0a372c930fcb4e49cc3b7c63a">graphLength_</a>{0.0};</div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  </div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">maxDistance_</a>{-1.0};</div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  </div>
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4df8b0de73fc4288c525d83eae82c03b">goalBias_</a>{.1};</div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  </div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4be6d823b2f6505f431f81371da21b71">xRandom_</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  </div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  BundleSpaceImportancePtr <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0ff33279b454b1b78eb68f136b8d4b63">importanceCalculator_</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  </div>
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  BundleSpaceGraphSamplerPtr <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0d9698226aaed8c3b3224da08820a30e">graphSampler_</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  </div>
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  PathRestrictionPtr <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a12496e82768deed7d92ab381215f17f7">pathRestriction_</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00419"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8"> 419</a></span>  </div>
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  <a class="code" href="classompl_1_1geometric_1_1PathSimplifierPtr.html">ompl::geometric::PathSimplifierPtr</a> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac873a6ed1b139ec1924367e6a1664eea">optimizer_</a>;</div>
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  </div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ad31a65e949a577f98d7ca68edb6a2016">qStart_</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  </div>
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a479b71d3dbd5b64fe6d01f7bfd4960cd">qGoal_</a>{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00428"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aeb851be0a372c930fcb4e49cc3b7c63a"> 428</a></span>  </div>
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  std::vector<Configuration *> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a72948dc2cf1723e52cc691c2ef7a3119">startConfigurations_</a>;</div>
<div class="line"><a name="l00431"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94"> 431</a></span>  </div>
<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  std::vector<Configuration *> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">goalConfigurations_</a>;</div>
<div class="line"><a name="l00434"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4df8b0de73fc4288c525d83eae82c03b"> 434</a></span>  };</div>
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  } <span class="comment">// namespace multilevel</span></div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span> } <span class="comment">// namespace ompl</span></div>
<div class="line"><a name="l00437"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4be6d823b2f6505f431f81371da21b71"> 437</a></span>  </div>
<div class="line"><a name="l00438"></a><span class="lineno"> 438</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a508896ae80998fd7d6d55e35ed6a5bf2"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a508896ae80998fd7d6d55e35ed6a5bf2">ompl::multilevel::BundleSpaceGraph::getImportance</a></div><div class="ttdeci">double getImportance() const override</div><div class="ttdoc">Importance of Bundle-space depending on number of vertices in Bundle-graph.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00294">BundleSpaceGraph.cpp:294</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a2913b5a94a515284f1d083d21d687d94"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2913b5a94a515284f1d083d21d687d94">ompl::multilevel::BundleSpaceGraph::maxDistance_</a></div><div class="ttdeci">double maxDistance_</div><div class="ttdoc">Maximum expansion step.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00431">BundleSpaceGraph.h:431</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_ad31a65e949a577f98d7ca68edb6a2016"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ad31a65e949a577f98d7ca68edb6a2016">ompl::multilevel::BundleSpaceGraph::qStart_</a></div><div class="ttdeci">Configuration * qStart_</div><div class="ttdoc">Start configuration.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00457">BundleSpaceGraph.h:457</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PathPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1PathPtr.html">PathPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::Path.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1Control_html"><div class="ttname"><a href="classompl_1_1control_1_1Control.html">ompl::control::Control</a></div><div class="ttdoc">Definition of an abstract control.</div><div class="ttdef"><b>Definition:</b> <a href="Control_8h_source.html#l00111">Control.h:111</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1SpaceInformationPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1SpaceInformationPtr.html">SpaceInformationPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::SpaceInformation.</div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html_a6ea3b8ddd219e7827a78a81962ecc872"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html#a6ea3b8ddd219e7827a78a81962ecc872">ompl::multilevel::BundleSpace::BundleSpace</a></div><div class="ttdeci">BundleSpace(const ompl::base::SpaceInformationPtr &si, BundleSpace *baseSpace_=nullptr)</div><div class="ttdoc">Bundle Space contains three primary characters, the bundle space, the base space and the projection.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8cpp_source.html#l00060">BundleSpace.cpp:60</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a28fa657a77354663740fc808ce370a45"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a28fa657a77354663740fc808ce370a45">ompl::multilevel::BundleSpaceGraph::clear</a></div><div class="ttdeci">void clear() override</div><div class="ttdoc">Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00187">BundleSpaceGraph.cpp:187</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration_html"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">ompl::multilevel::BundleSpaceGraph::Configuration</a></div><div class="ttdoc">A configuration in Bundle-space.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00128">BundleSpaceGraph.h:128</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration_html_a3e5eccb4cc1508d9822bd246f83c6316"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a3e5eccb4cc1508d9822bd246f83c6316">ompl::multilevel::BundleSpaceGraph::Configuration::cost</a></div><div class="ttdeci">base::Cost cost</div><div class="ttdoc">cost to reach until current vertex in {qrrt*}</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00161">BundleSpaceGraph.h:161</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a56aa7888ea79fe9bdb049a33956d283c"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a56aa7888ea79fe9bdb049a33956d283c">ompl::multilevel::BundleSpaceGraph::getPath</a></div><div class="ttdeci">ompl::base::PathPtr getPath(const Vertex &start, const Vertex &goal)</div><div class="ttdoc">Shortest path on Bundle-graph.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00680">BundleSpaceGraph.cpp:680</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration_html_a41f15026dceabe5b51ac1c7ab390325c"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a41f15026dceabe5b51ac1c7ab390325c">ompl::multilevel::BundleSpaceGraph::Configuration::representativeIndex</a></div><div class="ttdeci">normalized_index_type representativeIndex</div><div class="ttdoc">Access to the representatives (Sparse Vertex) of the Dense vertices For Sparse Graph: Store index of ...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00178">BundleSpaceGraph.h:178</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_ae6ecd9f14713bc1e10f0861850ce3630"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ae6ecd9f14713bc1e10f0861850ce3630">ompl::multilevel::BundleSpaceGraph::getPlannerData</a></div><div class="ttdeci">void getPlannerData(ompl::base::PlannerData &data) const override</div><div class="ttdoc">Return plannerdata structure, whereby each vertex is marked depending to which component it belongs (...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00844">BundleSpaceGraph.cpp:844</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a04603eff11e06b615d7ece0e1f02fad9"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a04603eff11e06b615d7ece0e1f02fad9">ompl::multilevel::BundleSpaceGraph::connect</a></div><div class="ttdeci">bool connect(const Configuration *from, const Configuration *to)</div><div class="ttdoc">Try to connect configuration a to configuration b using the current metric.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00475">BundleSpaceGraph.cpp:475</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1PathSimplifierPtr_html"><div class="ttname"><a href="classompl_1_1geometric_1_1PathSimplifierPtr.html">PathSimplifierPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::geometric::PathSimplifier.</div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a5fee2947400efeac2fb731299f331079"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5fee2947400efeac2fb731299f331079">ompl::multilevel::BundleSpaceGraph::goalConfigurations_</a></div><div class="ttdeci">std::vector< Configuration * > goalConfigurations_</div><div class="ttdoc">List of configurations that satisfy the goal condition.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00466">BundleSpaceGraph.h:466</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration_html_a6a1b48173ded3503453fb3d926fabb88"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a6a1b48173ded3503453fb3d926fabb88">ompl::multilevel::BundleSpaceGraph::Configuration::interfaceIndexList</a></div><div class="ttdeci">std::unordered_map< normalized_index_type, std::set< normalized_index_type > > interfaceIndexList</div><div class="ttdoc">Access to the interface-supporting vertice hashes of the sparse nodes.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00187">BundleSpaceGraph.h:187</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_1multilevel_1_1BundleSpaceGraph_1_1EdgeInternalState_html"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1EdgeInternalState.html">ompl::multilevel::BundleSpaceGraph::EdgeInternalState</a></div><div class="ttdoc">An edge in Bundle-space.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00193">BundleSpaceGraph.h:193</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a50904fba20f43ac7bc233f3ffde8eb16"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a50904fba20f43ac7bc233f3ffde8eb16">ompl::multilevel::BundleSpaceGraph::steerTowards_Range</a></div><div class="ttdeci">Configuration * steerTowards_Range(const Configuration *from, Configuration *to)</div><div class="ttdoc">Steer system at Configuration *from to Configuration *to, stopping if maxdistance is reached.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00437">BundleSpaceGraph.cpp:437</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a5d797eae0df850b19da56dde23c7b76a"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5d797eae0df850b19da56dde23c7b76a">ompl::multilevel::BundleSpaceGraph::setStartIndex</a></div><div class="ttdeci">virtual void setStartIndex(Vertex)</div><div class="ttdoc">Set vertex representing the start.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00608">BundleSpaceGraph.cpp:608</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a9d6d602ce41aad13816d921f614f475b"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a9d6d602ce41aad13816d921f614f475b">ompl::multilevel::BundleSpaceGraph::getGraphNonConst</a></div><div class="ttdeci">virtual Graph & getGraphNonConst()</div><div class="ttdoc">Get underlying boost graph representation (non const)</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00382">BundleSpaceGraph.cpp:382</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a184184689569610b0976bca91a5ef09e"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a184184689569610b0976bca91a5ef09e">ompl::multilevel::BundleSpaceGraph::extendGraphTowards_Range</a></div><div class="ttdeci">Configuration * extendGraphTowards_Range(const Configuration *from, Configuration *to)</div><div class="ttdoc">Steer system at Configuration *from to Configuration *to while system is valid, stopping if maxDistan...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00453">BundleSpaceGraph.cpp:453</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Cost_html"><div class="ttname"><a href="classompl_1_1base_1_1Cost.html">ompl::base::Cost</a></div><div class="ttdoc">Definition of a cost value. Can represent the cost of a motion or the cost of a state.</div><div class="ttdef"><b>Definition:</b> <a href="Cost_8h_source.html#l00111">Cost.h:111</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_acea8da5111cfdeeb3e22abbd2e739bb8"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#acea8da5111cfdeeb3e22abbd2e739bb8">ompl::multilevel::BundleSpaceGraph::findSection</a></div><div class="ttdeci">bool findSection() override</div><div class="ttdoc">Call algorithm to solve the find section problem.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00168">BundleSpaceGraph.cpp:168</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a960aec96f564afb73a395cd4e7bbb747"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a960aec96f564afb73a395cd4e7bbb747">ompl::multilevel::BundleSpaceGraph::addBundleConfiguration</a></div><div class="ttdeci">virtual Configuration * addBundleConfiguration(base::State *)</div><div class="ttdoc">Add ompl::base::State to graph. Return its configuration.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00342">BundleSpaceGraph.cpp:342</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a98a915de831599f05406e62c225b7445"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a98a915de831599f05406e62c225b7445">ompl::multilevel::BundleSpaceGraph::printConfiguration</a></div><div class="ttdeci">virtual void printConfiguration(const Configuration *) const</div><div class="ttdoc">Print configuration to std::cout.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00783">BundleSpaceGraph.cpp:783</a></div></div>
<div class="ttc" id="aclassompl_1_1PDF_html"><div class="ttname"><a href="classompl_1_1PDF.html">ompl::PDF</a></div><div class="ttdoc">A container that supports probabilistic sampling over weighted data.</div><div class="ttdef"><b>Definition:</b> <a href="PDF_8h_source.html#l00080">PDF.h:80</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a72948dc2cf1723e52cc691c2ef7a3119"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a72948dc2cf1723e52cc691c2ef7a3119">ompl::multilevel::BundleSpaceGraph::startConfigurations_</a></div><div class="ttdeci">std::vector< Configuration * > startConfigurations_</div><div class="ttdoc">List of configurations that satisfy the start condition.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00463">BundleSpaceGraph.h:463</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a4df8b0de73fc4288c525d83eae82c03b"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4df8b0de73fc4288c525d83eae82c03b">ompl::multilevel::BundleSpaceGraph::goalBias_</a></div><div class="ttdeci">double goalBias_</div><div class="ttdoc">Goal bias.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00434">BundleSpaceGraph.h:434</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration_html_ad7e21d890591a5f424f91d7bd3eff87f"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#ad7e21d890591a5f424f91d7bd3eff87f">ompl::multilevel::BundleSpaceGraph::Configuration::children</a></div><div class="ttdeci">std::vector< Configuration * > children</div><div class="ttdoc">The set of motions descending from the current motion {qrrt*}.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00167">BundleSpaceGraph.h:167</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_af899f7a961475698d38406d09e9f7765"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#af899f7a961475698d38406d09e9f7765">ompl::multilevel::BundleSpaceGraph::getGoalIndex</a></div><div class="ttdeci">virtual Vertex getGoalIndex() const</div><div class="ttdoc">Get vertex representing the goal.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00590">BundleSpaceGraph.cpp:590</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html">ompl::multilevel::BundleSpaceGraph</a></div><div class="ttdoc">A graph on a Bundle-space.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00120">BundleSpaceGraph.h:120</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a></div><div class="ttdoc">Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...</div><div class="ttdef"><b>Definition:</b> <a href="base_2PlannerData_8h_source.html#l00238">PlannerData.h:238</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration_html_a96dd7e84cdbe7480dba8c1f2faf3f6f3"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a96dd7e84cdbe7480dba8c1f2faf3f6f3">ompl::multilevel::BundleSpaceGraph::Configuration::nonInterfaceIndexList</a></div><div class="ttdeci">std::set< normalized_index_type > nonInterfaceIndexList</div><div class="ttdoc">Access to all non-interface supporting vertices of the sparse nodes.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00182">BundleSpaceGraph.h:182</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration_html_a4874cdec19c07754ceca0863e751066a"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a4874cdec19c07754ceca0863e751066a">ompl::multilevel::BundleSpaceGraph::Configuration::lineCost</a></div><div class="ttdeci">base::Cost lineCost</div><div class="ttdoc">same as rrt*, connection cost with parent {qrrt*}</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00164">BundleSpaceGraph.h:164</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a88dbfeb26a7eaf4116cf50b6e4c87727"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a88dbfeb26a7eaf4116cf50b6e4c87727">ompl::multilevel::BundleSpaceGraph::interpolate</a></div><div class="ttdeci">virtual void interpolate(const Configuration *a, const Configuration *b, Configuration *dest) const</div><div class="ttdoc">Interpolate from configuration a to configuration b and store results in dest.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00420">BundleSpaceGraph.cpp:420</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a12496e82768deed7d92ab381215f17f7"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a12496e82768deed7d92ab381215f17f7">ompl::multilevel::BundleSpaceGraph::pathRestriction_</a></div><div class="ttdeci">PathRestrictionPtr pathRestriction_</div><div class="ttdoc">Pointer to current path restriction (the set of points which project onto the best cost path on the b...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00451">BundleSpaceGraph.h:451</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a8297847c10b1e8fde38b1da21086f11f"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a8297847c10b1e8fde38b1da21086f11f">ompl::multilevel::BundleSpaceGraph::Graph</a></div><div class="ttdeci">boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, Configuration *, EdgeInternalState, GraphMetaData > Graph</div><div class="ttdoc">A Bundle-graph structure using boost::adjacency_list bundles.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00230">BundleSpaceGraph.h:230</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a479b71d3dbd5b64fe6d01f7bfd4960cd"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a479b71d3dbd5b64fe6d01f7bfd4960cd">ompl::multilevel::BundleSpaceGraph::qGoal_</a></div><div class="ttdeci">Configuration * qGoal_</div><div class="ttdoc">The (best) goal configuration.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00460">BundleSpaceGraph.h:460</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_ac873a6ed1b139ec1924367e6a1664eea"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac873a6ed1b139ec1924367e6a1664eea">ompl::multilevel::BundleSpaceGraph::optimizer_</a></div><div class="ttdeci">ompl::geometric::PathSimplifierPtr optimizer_</div><div class="ttdoc">A path optimizer.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00454">BundleSpaceGraph.h:454</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a4a4fa56792faf06ff5b7a2a02f518b8e"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4a4fa56792faf06ff5b7a2a02f518b8e">ompl::multilevel::BundleSpaceGraph::writeToGraphviz</a></div><div class="ttdeci">void writeToGraphviz(std::string filename) const</div><div class="ttdoc">Write class to graphviz.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00760">BundleSpaceGraph.cpp:760</a></div></div>
<div class="ttc" id="astructompl_1_1multilevel_1_1BundleSpaceGraph_1_1GraphMetaData_html"><div class="ttname"><a href="structompl_1_1multilevel_1_1BundleSpaceGraph_1_1GraphMetaData.html">ompl::multilevel::BundleSpaceGraph::GraphMetaData</a></div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00220">BundleSpaceGraph.h:220</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration_html_a12b864cb560e7c3923fff460819e2469"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a12b864cb560e7c3923fff460819e2469">ompl::multilevel::BundleSpaceGraph::Configuration::pdf_element</a></div><div class="ttdeci">void * pdf_element</div><div class="ttdoc">Element of Probability Density Function (needed to update probability)</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00144">BundleSpaceGraph.h:144</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a64c5ecaccc7e38fbc0e80deabafb7e82"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a64c5ecaccc7e38fbc0e80deabafb7e82">ompl::multilevel::BundleSpaceGraph::init</a></div><div class="ttdeci">virtual void init()</div><div class="ttdoc">Initialization methods for the first iteration (adding start configuration and doing sanity checks)</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00299">BundleSpaceGraph.cpp:299</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a0dba6b9849b1297dd0905ced2e5910b9"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0dba6b9849b1297dd0905ced2e5910b9">ompl::multilevel::BundleSpaceGraph::getSolution</a></div><div class="ttdeci">bool getSolution(ompl::base::PathPtr &solution) override</div><div class="ttdoc">Return best solution.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00618">BundleSpaceGraph.cpp:618</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a2e30391590cc20b303bf132a94f414e5"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a2e30391590cc20b303bf132a94f414e5">ompl::multilevel::BundleSpaceGraph::addConfiguration</a></div><div class="ttdeci">virtual Vertex addConfiguration(Configuration *q)</div><div class="ttdoc">Add configuration to graph. Return its vertex in boost graph.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00354">BundleSpaceGraph.cpp:354</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_aeb851be0a372c930fcb4e49cc3b7c63a"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aeb851be0a372c930fcb4e49cc3b7c63a">ompl::multilevel::BundleSpaceGraph::graphLength_</a></div><div class="ttdeci">double graphLength_</div><div class="ttdoc">Length of graph (useful for determing importance of Bundle-space.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00428">BundleSpaceGraph.h:428</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_ac55d7bd5c6a1ff55ed26df900d6aea16"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac55d7bd5c6a1ff55ed26df900d6aea16">ompl::multilevel::BundleSpaceGraph::addGoalConfiguration</a></div><div class="ttdeci">void addGoalConfiguration(Configuration *x)</div><div class="ttdoc">Add configuration to graph as goal vertex.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00581">BundleSpaceGraph.cpp:581</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a4be6d823b2f6505f431f81371da21b71"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a4be6d823b2f6505f431f81371da21b71">ompl::multilevel::BundleSpaceGraph::xRandom_</a></div><div class="ttdeci">Configuration * xRandom_</div><div class="ttdoc">Temporary random configuration.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00437">BundleSpaceGraph.h:437</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a0ff33279b454b1b78eb68f136b8d4b63"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0ff33279b454b1b78eb68f136b8d4b63">ompl::multilevel::BundleSpaceGraph::importanceCalculator_</a></div><div class="ttdeci">BundleSpaceImportancePtr importanceCalculator_</div><div class="ttdoc">Pointer to strategy to compute importance of this bundle space (which is used to decide which bundle ...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00442">BundleSpaceGraph.h:442</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration_html_a3499c7e7e85ebb5cf9d1ffb6d86adc68"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a3499c7e7e85ebb5cf9d1ffb6d86adc68">ompl::multilevel::BundleSpaceGraph::Configuration::parent</a></div><div class="ttdeci">Configuration * parent</div><div class="ttdoc">parent index for {qrrt*}</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00158">BundleSpaceGraph.h:158</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a9537072ddd641cfb51d4cc9f594fffc7"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a9537072ddd641cfb51d4cc9f594fffc7">ompl::multilevel::BundleSpaceGraph::grow</a></div><div class="ttdeci">void grow() override=0</div><div class="ttdoc">Perform an iteration of the planner.</div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a3699099d20c7e1a24e6be5b1a671f4b8"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a3699099d20c7e1a24e6be5b1a671f4b8">ompl::multilevel::BundleSpaceGraph::nearestDatastructure_</a></div><div class="ttdeci">RoadmapNeighborsPtr nearestDatastructure_</div><div class="ttdoc">Nearest neighbor structure for Bundle space configurations.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00419">BundleSpaceGraph.h:419</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpace_html"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpace.html">ompl::multilevel::BundleSpace</a></div><div class="ttdoc">A single Bundle-space.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpace_8h_source.html#l00131">BundleSpace.h:131</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_aa9a011d8547380113d1fb2c2b414489d"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aa9a011d8547380113d1fb2c2b414489d">ompl::multilevel::BundleSpaceGraph::addBundleEdge</a></div><div class="ttdeci">virtual void addBundleEdge(const Configuration *a, const Configuration *b)</div><div class="ttdoc">Add edge between configuration a and configuration b to graph.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00349">BundleSpaceGraph.cpp:349</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_aac5d62baa6a151b402c363487623a2f9"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aac5d62baa6a151b402c363487623a2f9">ompl::multilevel::BundleSpaceGraph::checkMotion</a></div><div class="ttdeci">virtual bool checkMotion(const Configuration *a, const Configuration *b) const</div><div class="ttdoc">Check if we can move from configuration a to configuration b using the current metric.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00415">BundleSpaceGraph.cpp:415</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration_html_a21747759c6e5715675df75abd5decaa2"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html#a21747759c6e5715675df75abd5decaa2">ompl::multilevel::BundleSpaceGraph::Configuration::index</a></div><div class="ttdeci">normalized_index_type index</div><div class="ttdoc">Index of configuration in boost::graph. Usually in the interval [0,num_vertices(graph)],...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00173">BundleSpaceGraph.h:173</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a5d867386251dcea98f1ebd941f7be7dd"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a5d867386251dcea98f1ebd941f7be7dd">ompl::multilevel::BundleSpaceGraph::steerTowards</a></div><div class="ttdeci">Configuration * steerTowards(const Configuration *from, const Configuration *to)</div><div class="ttdoc">Steer system at Configuration *from to Configuration *to.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00425">BundleSpaceGraph.cpp:425</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a0d9698226aaed8c3b3224da08820a30e"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a0d9698226aaed8c3b3224da08820a30e">ompl::multilevel::BundleSpaceGraph::graphSampler_</a></div><div class="ttdeci">BundleSpaceGraphSamplerPtr graphSampler_</div><div class="ttdoc">Pointer to strategy to sample from graph.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00445">BundleSpaceGraph.h:445</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a6137b49fdfdd7b1fa78c4062f5134779"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a6137b49fdfdd7b1fa78c4062f5134779">ompl::multilevel::BundleSpaceGraph::bestCost_</a></div><div class="ttdeci">base::Cost bestCost_</div><div class="ttdoc">Best cost found so far by algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00326">BundleSpaceGraph.h:326</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_aea0627bc0ebdff95891bb194b0dd0bd4"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aea0627bc0ebdff95891bb194b0dd0bd4">ompl::multilevel::BundleSpaceGraph::setup</a></div><div class="ttdeci">void setup() override</div><div class="ttdoc">Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00116">BundleSpaceGraph.cpp:116</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_ac6c48f0bd45ba92bc2329620049352eb"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#ac6c48f0bd45ba92bc2329620049352eb">ompl::multilevel::BundleSpaceGraph::print</a></div><div class="ttdeci">void print(std::ostream &out) const override</div><div class="ttdoc">Print class to ostream.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00775">BundleSpaceGraph.cpp:775</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a86e04bdab5ff70826b5926c554de0b97"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a86e04bdab5ff70826b5926c554de0b97">ompl::multilevel::BundleSpaceGraph::getStartIndex</a></div><div class="ttdeci">virtual Vertex getStartIndex() const</div><div class="ttdoc">Get vertex representing the start.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00576">BundleSpaceGraph.cpp:576</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_aabdbde642d2e9c07bd5abbaaa09d6058"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#aabdbde642d2e9c07bd5abbaaa09d6058">ompl::multilevel::BundleSpaceGraph::distance</a></div><div class="ttdeci">virtual double distance(const Configuration *a, const Configuration *b) const</div><div class="ttdoc">Distance between two configurations using the current metric.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00410">BundleSpaceGraph.cpp:410</a></div></div>
<div class="ttc" id="aclassompl_1_1PDF_1_1Element_html"><div class="ttname"><a href="classompl_1_1PDF_1_1Element.html">ompl::PDF::Element</a></div><div class="ttdoc">A class that will hold data contained in the PDF.</div><div class="ttdef"><b>Definition:</b> <a href="PDF_8h_source.html#l00116">PDF.h:116</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_abc285cc6e0ec45d14b382fd1f024c0e6"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#abc285cc6e0ec45d14b382fd1f024c0e6">ompl::multilevel::BundleSpaceGraph::getGraph</a></div><div class="ttdeci">virtual const Graph & getGraph() const</div><div class="ttdoc">Get underlying boost graph representation.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00377">BundleSpaceGraph.cpp:377</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_html_a55c5d6431a21d6c8b772b81cdc8a67fa"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph.html#a55c5d6431a21d6c8b772b81cdc8a67fa">ompl::multilevel::BundleSpaceGraph::addEdge</a></div><div class="ttdeci">virtual const std::pair< Edge, bool > addEdge(const Vertex a, const Vertex b)</div><div class="ttdoc">Add edge between Vertex a and Vertex b to graph.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8cpp_source.html#l00567">BundleSpaceGraph.cpp:567</a></div></div>
</div>
<footer class="footer">
<div class="container">
<a href="http://www.kavrakilab.org">Kavraki Lab</a> •
<a href="https://www.cs.rice.edu">Department of Computer Science</a> •
<a href="https://www.rice.edu">Rice University</a><br/>
Funded in part by the <a href="https://www.nsf.gov">National Science Foundation</a><br/>
Documentation generated by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.8.17
</div>
</footer>
<script>
(function(i,s,o,g,r,a,m){i['GoogleAnalyticsObject']=r;i[r]=i[r]||function(){
(i[r].q=i[r].q||[]).push(arguments)},i[r].l=1*new Date();a=s.createElement(o),
m=s.getElementsByTagName(o)[0];a.async=1;a.src=g;m.parentNode.insertBefore(a,m)
})(window,document,'script','//www.google-analytics.com/analytics.js','ga');
ga('create', 'UA-9156598-2', 'auto');
ga('send', 'pageview');
</script>
<script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js" integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1" crossorigin="anonymous"></script>
<script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
</body>
</html>