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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2017, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">*</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">* * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">* contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">* from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Zachary Kingston */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include "ompl/tools/config/MagicConstants.h"</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include "ompl/base/spaces/constraint/ConstrainedStateSpace.h"</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#include "ompl/util/Exception.h"</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedMotionValidator.html#aa065e7127ae1ce732cd23ca7e3642275"> 45</a></span> <a class="code" href="classompl_1_1base_1_1ConstrainedMotionValidator.html#aa065e7127ae1ce732cd23ca7e3642275">ompl::base::ConstrainedMotionValidator::ConstrainedMotionValidator</a>(<a class="code" href="classompl_1_1base_1_1SpaceInformation.html">SpaceInformation</a> *si)</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  : <a class="code" href="classompl_1_1base_1_1MotionValidator.html">MotionValidator</a>(si), ss_(*si->getStateSpace()->as<<a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html">ConstrainedStateSpace</a>>())</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> {</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> }</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedMotionValidator.html#a897afa14a244d3c739e2cbd10e82b6a5"> 50</a></span> <a class="code" href="classompl_1_1base_1_1ConstrainedMotionValidator.html#aa065e7127ae1ce732cd23ca7e3642275">ompl::base::ConstrainedMotionValidator::ConstrainedMotionValidator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">SpaceInformationPtr</a> &si)</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  : <a class="code" href="classompl_1_1base_1_1MotionValidator.html">MotionValidator</a>(si), ss_(*si->getStateSpace()->as<<a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html">ConstrainedStateSpace</a>>())</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> {</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> }</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedMotionValidator.html#a534eb8dfda829df2da4795352bc48d62"> 55</a></span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ConstrainedMotionValidator.html#a534eb8dfda829df2da4795352bc48d62">ompl::base::ConstrainedMotionValidator::checkMotion</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *s1, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *s2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordflow">return</span> ss_.getConstraint()->isSatisfied(s2) && ss_.discreteGeodesic(s1, s2, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> }</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  </div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedMotionValidator.html#a6fdb5749c9f1b0f2c1f4bba76b07da78"> 60</a></span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ConstrainedMotionValidator.html#a534eb8dfda829df2da4795352bc48d62">ompl::base::ConstrainedMotionValidator::checkMotion</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *s1, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *s2,</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  std::pair<State *, double> &lastValid)<span class="keyword"> const</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="comment">// Invoke the manifold-traversing algorithm to save intermediate states</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  std::vector<ompl::base::State *> stateList;</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keywordtype">bool</span> reached = ss_.discreteGeodesic(s1, s2, <span class="keyword">false</span>, &stateList);</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="comment">// We are supposed to be able to assume that s1 is valid. However, it's not</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="comment">// on rare occasions, and I don't know why. This makes stateList empty.</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">if</span> (stateList.empty())</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  {</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordflow">if</span> (lastValid.first != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  ss_.copyState(lastValid.first, s1);</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  lastValid.second = 0;</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  }</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordtype">double</span> distanceTraveled = 0;</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < stateList.size() - 1; i++)</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>  <span class="keywordflow">if</span> (!reached)</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  distanceTraveled += ss_.distance(stateList[i], stateList[i + 1]);</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  ss_.freeState(stateList[i]);</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  }</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  </div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordflow">if</span> (!reached && (lastValid.first != <span class="keyword">nullptr</span>))</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  {</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="comment">// Check if manifold traversal stopped early and set its final state as</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="comment">// lastValid.</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  ss_.copyState(lastValid.first, stateList.back());</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="comment">// Compute the interpolation parameter of the last valid</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="comment">// state. (Although if you then interpolate, you probably won't get this</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="comment">// exact state back.)</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordtype">double</span> approxDistanceRemaining = ss_.distance(lastValid.first, s2);</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  lastValid.second = distanceTraveled / (distanceTraveled + approxDistanceRemaining);</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>  </div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  ss_.freeState(stateList.back());</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordflow">return</span> ss_.getConstraint()->isSatisfied(s2) && reached;</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> }</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a9673ee354444d18a0c32d85f232e8382"> 102</a></span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a9673ee354444d18a0c32d85f232e8382">ompl::base::ConstrainedStateSpace::ConstrainedStateSpace</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> &space, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ConstraintPtr.html">ConstraintPtr</a> &constraint)</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  : <a class="code" href="classompl_1_1base_1_1WrapperStateSpace.html">WrapperStateSpace</a>(space)</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  , constraint_(constraint)</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  , n_(space->getDimension())</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  , k_(constraint_->getManifoldDimension())</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> {</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ac4b381611fa84be9e6d0ff2870b11498">setDelta</a>(magic::CONSTRAINED_STATE_SPACE_DELTA);</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> }</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  </div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a8e1324482598ba2c396877f9d86059a9"> 111</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a8e1324482598ba2c396877f9d86059a9">ompl::base::ConstrainedStateSpace::constrainedSanityChecks</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> flags)<span class="keyword"> const</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keyword">auto</span> *s1 = allocState()->as<<a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">StateType</a>>();</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <a class="code" href="classompl_1_1base_1_1State.html">State</a> *s2 = allocState();</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a> ss = allocStateSampler();</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  </div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordtype">bool</span> isTraversable = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  </div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < <a class="code" href="namespaceompl_1_1magic.html#ad96353c64e790206f36a2fb9b2c7d646">ompl::magic::TEST_STATE_COUNT</a>; ++i)</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  {</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordtype">bool</span> satisfyGeodesics = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordtype">bool</span> continuityGeodesics = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  </div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  ss->sampleUniform(s1);</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  </div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="comment">// Verify that the provided Jacobian routine for the constraint is close</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="comment">// to the numerical approximation.</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordflow">if</span> (flags & CONSTRAINED_STATESPACE_JACOBIAN)</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  {</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  Eigen::MatrixXd j_a(n_ - k_, n_), j_n(n_ - k_, n_);</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  </div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  constraint_->jacobian(*s1, j_a); <span class="comment">// Provided routine</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  constraint_->Constraint::jacobian(*s1, j_n); <span class="comment">// Numerical approximation</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  </div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordflow">if</span> ((j_a - j_n).norm() > constraint_->getTolerance())</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">Exception</a>(<span class="stringliteral">"Constraint Jacobian deviates from numerical approximation."</span>);</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  }</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  </div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  ss->sampleUniformNear(s2, s1, 10 * delta_);</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  </div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="comment">// Check that samplers are returning constraint satisfying samples.</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keywordflow">if</span> (flags & CONSTRAINED_STATESPACE_SAMPLERS && (!constraint_->isSatisfied(s1) || !constraint_->isSatisfied(s2)))</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">Exception</a>(<span class="stringliteral">"State samplers generate constraint unsatisfying states."</span>);</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  </div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  std::vector<State *> geodesic;</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="comment">// Make sure that the manifold is traversable at least once.</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">if</span> ((isTraversable |= discreteGeodesic(s1, s2, <span class="keyword">true</span>, &geodesic)))</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  {</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="comment">// Verify that geodesicInterpolate returns a constraint satisfying state.</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordflow">if</span> (flags & CONSTRAINED_STATESPACE_GEODESIC_INTERPOLATE &&</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  !constraint_->isSatisfied(geodesicInterpolate(geodesic, 0.5)))</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">Exception</a>(<span class="stringliteral">"Geodesic interpolate returns unsatisfying configurations."</span>);</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  </div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <a class="code" href="classompl_1_1base_1_1State.html">State</a> *prev = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> s : geodesic)</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  {</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="comment">// Make sure geodesics contain only constraint satisfying states.</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keywordflow">if</span> (flags & CONSTRAINED_STATESPACE_GEODESIC_SATISFY)</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  satisfyGeodesics |= !constraint_->isSatisfied(s);</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  </div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="comment">// Make sure geodesics have some continuity.</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keywordflow">if</span> (flags & CONSTRAINED_STATESPACE_GEODESIC_CONTINUITY && prev != <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  continuityGeodesics |= distance(prev, s) > lambda_ * delta_;</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  </div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  prev = s;</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  }</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  </div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> s : geodesic)</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  freeState(s);</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>  </div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keywordflow">if</span> (satisfyGeodesics)</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">Exception</a>(<span class="stringliteral">"Discrete geodesic computation generates invalid states."</span>);</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  </div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordflow">if</span> (continuityGeodesics)</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">Exception</a>(<span class="stringliteral">"Discrete geodesic computation generates non-continuous states."</span>);</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  }</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  </div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  freeState(s1);</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  freeState(s2);</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  </div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="keywordflow">if</span> (!isTraversable)</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">Exception</a>(<span class="stringliteral">"Unable to compute discrete geodesic on constraint."</span>);</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> }</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  </div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace.html#abe381e7751f329702e0a5906d5ae8a59"> 186</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#abe381e7751f329702e0a5906d5ae8a59">ompl::base::ConstrainedStateSpace::sanityChecks</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  constrainedSanityChecks(~0);</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  </div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordtype">double</span> zero = std::numeric_limits<double>::epsilon();</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keywordtype">double</span> eps = std::numeric_limits<double>::epsilon();</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> flags = STATESPACE_DISTANCE_DIFFERENT_STATES | STATESPACE_DISTANCE_SYMMETRIC |</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  STATESPACE_DISTANCE_BOUND | STATESPACE_RESPECT_BOUNDS | STATESPACE_ENFORCE_BOUNDS_NO_OP;</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  </div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <a class="code" href="classompl_1_1base_1_1StateSpace.html#a800eb71d641ffb4e5354a9f09a11f1dd">StateSpace::sanityChecks</a>(zero, eps, flags);</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> }</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  </div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a349cdde886586bc63b243c49176650ba"> 198</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a349cdde886586bc63b243c49176650ba">ompl::base::ConstrainedStateSpace::setSpaceInformation</a>(<a class="code" href="classompl_1_1base_1_1SpaceInformation.html">SpaceInformation</a> *si)</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> {</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="comment">// Check that the object is valid</span></div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keywordflow">if</span> (si == <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"ompl::base::ConstrainedStateSpace::setSpaceInformation(): "</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="stringliteral">"si is nullptr."</span>);</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <span class="keywordflow">if</span> (si->getStateSpace().get() != <span class="keyword">this</span>)</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"ompl::base::ConstrainedStateSpace::setSpaceInformation(): "</span></div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="stringliteral">"si for ConstrainedStateSpace must be constructed from the same state space object."</span>);</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  </div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  si_ = si;</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>  </div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ac4b381611fa84be9e6d0ff2870b11498"> 211</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ac4b381611fa84be9e6d0ff2870b11498">ompl::base::ConstrainedStateSpace::setDelta</a>(<span class="keywordtype">double</span> delta)</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> {</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keywordflow">if</span> (delta <= 0)</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"ompl::base::ConstrainedStateSpace::setDelta(): "</span></div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="stringliteral">"delta must be positive."</span>);</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  delta_ = delta;</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  </div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keywordflow">if</span> (setup_)</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  {</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  setLongestValidSegmentFraction(delta_ / getMaximumExtent());</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  si_->setStateValidityCheckingResolution(delta_);</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> }</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  </div>
<div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ae79fac42f95ee2d8f8f28d74ab9fe602"> 225</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ae79fac42f95ee2d8f8f28d74ab9fe602">ompl::base::ConstrainedStateSpace::setup</a>()</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span> {</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keywordflow">if</span> (setup_)</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keywordflow">return</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"> 230</span>  <span class="keywordflow">if</span> (si_ == <span class="keyword">nullptr</span>)</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"ompl::base::ConstrainedStateSpace::setup(): "</span></div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="stringliteral">"Must associate a SpaceInformation object to the ConstrainedStateSpace via"</span></div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  <span class="stringliteral">"setStateInformation() before use."</span>);</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  </div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <a class="code" href="classompl_1_1base_1_1WrapperStateSpace.html#a36cec500fbec7250b9aa6c91ff3f8892">WrapperStateSpace::setup</a>();</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  </div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  setDelta(delta_); <span class="comment">// This makes some setup-related calls</span></div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  setup_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  </div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  setDelta(delta_);</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  </div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="comment">// Call again to make sure information propagates properly to both wrapper</span></div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="comment">// and underlying space.</span></div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <a class="code" href="classompl_1_1base_1_1WrapperStateSpace.html#a36cec500fbec7250b9aa6c91ff3f8892">WrapperStateSpace::setup</a>();</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  </div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="comment">// Check if stride length of underlying state variables is 1</span></div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keyword">auto</span> *state = space_->allocState();</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keywordtype">bool</span> flag = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 1; i < space_->getDimension() && flag; ++i)</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  {</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  std::size_t newStride = space_->getValueAddressAtIndex(state, i) - space_->getValueAddressAtIndex(state, i - 1);</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  flag = newStride == 1;</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>  space_->freeState(state);</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  </div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="keywordflow">if</span> (!flag)</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"ompl::base::ConstrainedStateSpace::setup(): "</span></div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="stringliteral">"Stride length of member variables != 1, cannot translate into dense vector."</span>);</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>  </div>
<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a50701a7c829dbe5869376ad5eba1f601"> 261</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a50701a7c829dbe5869376ad5eba1f601">ompl::base::ConstrainedStateSpace::clear</a>()</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> }</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  </div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a706574802bed0fc539ee7c32011dc298"> 265</a></span> <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *<a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a706574802bed0fc539ee7c32011dc298">ompl::base::ConstrainedStateSpace::allocState</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">StateType</a>(<span class="keyword">this</span>);</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span> }</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  </div>
<div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a76c3278b1b6efdcd588a6609666281db"> 270</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a76c3278b1b6efdcd588a6609666281db">ompl::base::ConstrainedStateSpace::interpolate</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *from, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *to, <span class="keyword">const</span> <span class="keywordtype">double</span> t,</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <a class="code" href="classompl_1_1base_1_1State.html">State</a> *state)<span class="keyword"> const</span></div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="comment">// Get the list of intermediate states along the manifold.</span></div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  std::vector<State *> geodesic;</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  </div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="comment">// Default to returning `from' if traversal fails.</span></div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="keyword">auto</span> temp = from;</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="keywordflow">if</span> (discreteGeodesic(from, to, <span class="keyword">true</span>, &geodesic))</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  temp = geodesicInterpolate(geodesic, t);</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  </div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  copyState(state, temp);</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  </div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> s : geodesic)</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  freeState(s);</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>  </div>
<div class="line"><a name="l00287"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a0e179bc674e590fe1eb44c344b1db528"> 287</a></span> <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *<a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a0e179bc674e590fe1eb44c344b1db528">ompl::base::ConstrainedStateSpace::geodesicInterpolate</a>(<span class="keyword">const</span> std::vector<State *> &geodesic,</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> t)<span class="keyword"> const</span></div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n = geodesic.size();</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <span class="keyword">auto</span> *d = <span class="keyword">new</span> <span class="keywordtype">double</span>[n];</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  </div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <span class="comment">// Compute partial sums of distances between intermediate states.</span></div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  d[0] = 0.;</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 1; i < n; ++i)</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  d[i] = d[i - 1] + distance(geodesic[i - 1], geodesic[i]);</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  </div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="comment">// Find the two adjacent states that t lies between, and return the closer.</span></div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> last = d[n - 1];</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  <span class="keywordflow">if</span> (last <= std::numeric_limits<double>::epsilon())</div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  {</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="keyword">delete</span>[] d;</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <span class="keywordflow">return</span> geodesic[0];</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  }</div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  {</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0;</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  <span class="keywordflow">while</span> (i < (n - 1) && (d[i] / last) <= t)</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  i++;</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  </div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> t1 = d[i] / last - t;</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> t2 = (i <= n - 2) ? d[i + 1] / last - t : 1;</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="keyword">delete</span>[] d;</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  assert((t1 < t2 || std::abs(t1 - t2) < std::numeric_limits<double>::epsilon()) ? (i < geodesic.size()) : (i + 1 < geodesic.size()));</div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="keywordflow">return</span> (t1 < t2 || std::abs(t1 - t2) < std::numeric_limits<double>::epsilon()) ? geodesic[i] : geodesic[i + 1];</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> }</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_ae79fac42f95ee2d8f8f28d74ab9fe602"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#ae79fac42f95ee2d8f8f28d74ab9fe602">ompl::base::ConstrainedStateSpace::setup</a></div><div class="ttdeci">void setup() override</div><div class="ttdoc">Final setup for the space.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00225">ConstrainedStateSpace.cpp:225</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1SpaceInformation_html"><div class="ttname"><a href="classompl_1_1base_1_1SpaceInformation.html">ompl::base::SpaceInformation</a></div><div class="ttdoc">The base class for space information. This contains all the information about the space planning is d...</div><div class="ttdef"><b>Definition:</b> <a href="base_2SpaceInformation_8h_source.html#l00145">SpaceInformation.h:145</a></div></div>
<div class="ttc" id="anamespaceompl_1_1magic_html_ad96353c64e790206f36a2fb9b2c7d646"><div class="ttname"><a href="namespaceompl_1_1magic.html#ad96353c64e790206f36a2fb9b2c7d646">ompl::magic::TEST_STATE_COUNT</a></div><div class="ttdeci">static const unsigned int TEST_STATE_COUNT</div><div class="ttdoc">When multiple states need to be generated as part of the computation of various information (usually ...</div><div class="ttdef"><b>Definition:</b> <a href="MagicConstants_8h_source.html#l00165">MagicConstants.h:165</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1SpaceInformationPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1SpaceInformationPtr.html">SpaceInformationPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::SpaceInformation.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstraintPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1ConstraintPtr.html">ConstraintPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::Constraint.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedMotionValidator_html_aa065e7127ae1ce732cd23ca7e3642275"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedMotionValidator.html#aa065e7127ae1ce732cd23ca7e3642275">ompl::base::ConstrainedMotionValidator::ConstrainedMotionValidator</a></div><div class="ttdeci">ConstrainedMotionValidator(SpaceInformation *si)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00045">ConstrainedStateSpace.cpp:45</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a76c3278b1b6efdcd588a6609666281db"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a76c3278b1b6efdcd588a6609666281db">ompl::base::ConstrainedStateSpace::interpolate</a></div><div class="ttdeci">void interpolate(const State *from, const State *to, double t, State *state) const override</div><div class="ttdoc">Find a state between from and to around time t, where t = 0 is from, and t = 1 is the final state rea...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00270">ConstrainedStateSpace.cpp:270</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a9673ee354444d18a0c32d85f232e8382"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a9673ee354444d18a0c32d85f232e8382">ompl::base::ConstrainedStateSpace::ConstrainedStateSpace</a></div><div class="ttdeci">ConstrainedStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint)</div><div class="ttdoc">Construct a constrained space from an ambientSpace and a constraint.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00102">ConstrainedStateSpace.cpp:102</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html"><div class="ttname"><a href="classompl_1_1base_1_1State.html">ompl::base::State</a></div><div class="ttdoc">Definition of an abstract state.</div><div class="ttdef"><b>Definition:</b> <a href="base_2State_8h_source.html#l00113">State.h:113</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a800eb71d641ffb4e5354a9f09a11f1dd"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a800eb71d641ffb4e5354a9f09a11f1dd">ompl::base::StateSpace::sanityChecks</a></div><div class="ttdeci">virtual void sanityChecks() const</div><div class="ttdoc">Convenience function that allows derived state spaces to choose which checks should pass (see SanityC...</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8cpp_source.html#l00603">StateSpace.cpp:603</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a50701a7c829dbe5869376ad5eba1f601"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a50701a7c829dbe5869376ad5eba1f601">ompl::base::ConstrainedStateSpace::clear</a></div><div class="ttdeci">virtual void clear()</div><div class="ttdoc">Clear any allocated memory from the state space.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00261">ConstrainedStateSpace.cpp:261</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1MotionValidator_html"><div class="ttname"><a href="classompl_1_1base_1_1MotionValidator.html">ompl::base::MotionValidator</a></div><div class="ttdoc">Abstract definition for a class checking the validity of motions – path segments between states....</div><div class="ttdef"><b>Definition:</b> <a href="MotionValidator_8h_source.html#l00128">MotionValidator.h:128</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_ac4b381611fa84be9e6d0ff2870b11498"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#ac4b381611fa84be9e6d0ff2870b11498">ompl::base::ConstrainedStateSpace::setDelta</a></div><div class="ttdeci">void setDelta(double delta)</div><div class="ttdoc">Set delta, the step size for traversing the manifold and collision checking. Default defined by ompl:...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00211">ConstrainedStateSpace.cpp:211</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a8e1324482598ba2c396877f9d86059a9"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a8e1324482598ba2c396877f9d86059a9">ompl::base::ConstrainedStateSpace::constrainedSanityChecks</a></div><div class="ttdeci">void constrainedSanityChecks(unsigned int flags) const</div><div class="ttdoc">Do some sanity checks relating to discrete geodesic computation and constraint satisfaction....</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00111">ConstrainedStateSpace.cpp:111</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html">ompl::base::ConstrainedStateSpace</a></div><div class="ttdoc">A StateSpace that has a Constraint imposed upon it. Underlying space functions are passed to the ambi...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00165">ConstrainedStateSpace.h:165</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1WrapperStateSpace_html_a36cec500fbec7250b9aa6c91ff3f8892"><div class="ttname"><a href="classompl_1_1base_1_1WrapperStateSpace.html#a36cec500fbec7250b9aa6c91ff3f8892">ompl::base::WrapperStateSpace::setup</a></div><div class="ttdeci">void setup() override</div><div class="ttdoc">Perform final setup steps. This function is automatically called by the SpaceInformation....</div><div class="ttdef"><b>Definition:</b> <a href="WrapperStateSpace_8cpp_source.html#l00077">WrapperStateSpace.cpp:77</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedMotionValidator_html_a534eb8dfda829df2da4795352bc48d62"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedMotionValidator.html#a534eb8dfda829df2da4795352bc48d62">ompl::base::ConstrainedMotionValidator::checkMotion</a></div><div class="ttdeci">bool checkMotion(const State *s1, const State *s2) const override</div><div class="ttdoc">Return whether we can step from s1 to s2 along the manifold without collision.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00055">ConstrainedStateSpace.cpp:55</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a0e179bc674e590fe1eb44c344b1db528"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a0e179bc674e590fe1eb44c344b1db528">ompl::base::ConstrainedStateSpace::geodesicInterpolate</a></div><div class="ttdeci">virtual State * geodesicInterpolate(const std::vector< State * > &geodesic, double t) const</div><div class="ttdoc">Like interpolate(...), but interpolates between intermediate states already supplied in stateList fro...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00287">ConstrainedStateSpace.cpp:287</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_1_1StateType_html"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">ompl::base::ConstrainedStateSpace::StateType</a></div><div class="ttdoc">A State in a ConstrainedStateSpace, represented as a dense real vector of values. For convenience and...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00200">ConstrainedStateSpace.h:200</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpacePtr_html"><div class="ttname"><a href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::StateSpace.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSamplerPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::StateSampler.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a706574802bed0fc539ee7c32011dc298"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a706574802bed0fc539ee7c32011dc298">ompl::base::ConstrainedStateSpace::allocState</a></div><div class="ttdeci">State * allocState() const override</div><div class="ttdoc">Allocate a new state in this space.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00265">ConstrainedStateSpace.cpp:265</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1WrapperStateSpace_html"><div class="ttname"><a href="classompl_1_1base_1_1WrapperStateSpace.html">ompl::base::WrapperStateSpace</a></div><div class="ttdoc">State space wrapper that transparently passes state space operations through to the underlying space....</div><div class="ttdef"><b>Definition:</b> <a href="WrapperStateSpace_8h_source.html#l00163">WrapperStateSpace.h:163</a></div></div>
<div class="ttc" id="aclassompl_1_1Exception_html"><div class="ttname"><a href="classompl_1_1Exception.html">ompl::Exception</a></div><div class="ttdoc">The exception type for ompl.</div><div class="ttdef"><b>Definition:</b> <a href="Exception_8h_source.html#l00078">Exception.h:78</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_abe381e7751f329702e0a5906d5ae8a59"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#abe381e7751f329702e0a5906d5ae8a59">ompl::base::ConstrainedStateSpace::sanityChecks</a></div><div class="ttdeci">void sanityChecks() const override</div><div class="ttdoc">Perform both constrained and regular sanity checks.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00186">ConstrainedStateSpace.cpp:186</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_a349cdde886586bc63b243c49176650ba"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#a349cdde886586bc63b243c49176650ba">ompl::base::ConstrainedStateSpace::setSpaceInformation</a></div><div class="ttdeci">void setSpaceInformation(SpaceInformation *si)</div><div class="ttdoc">Sets the space information for this state space. Required for collision checking in manifold traversa...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8cpp_source.html#l00198">ConstrainedStateSpace.cpp:198</a></div></div>
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