Program Listing for File FindSection.h

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/* Author: Andreas Orthey */

#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_RESTRICTION_FIND_SECTION_
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PATH_RESTRICTION_FIND_SECTION_
#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
#include <ompl/multilevel/datastructures/ParameterExponentialDecay.h>
#include <ompl/multilevel/datastructures/ParameterSmoothStep.h>

namespace ompl
{
    namespace base
    {

        OMPL_CLASS_FORWARD(Path);
    }
    namespace geometric
    {

        OMPL_CLASS_FORWARD(PathGeometric);
    }
    namespace multilevel
    {

        OMPL_CLASS_FORWARD(BundleSpaceGraph);
        OMPL_CLASS_FORWARD(PathRestriction);
        OMPL_CLASS_FORWARD(FiberedProjection);
        OMPL_CLASS_FORWARD(Head);

        using Configuration = ompl::multilevel::BundleSpaceGraph::Configuration;

        class FindSection
        {
        public:
            FindSection() = delete;
            FindSection(PathRestriction *);

            virtual ~FindSection();

            virtual bool solve(HeadPtr &head) = 0;

            bool findFeasibleStateOnFiber(const base::State *xBase, base::State *xBundle);

            bool tripleStep(HeadPtr &head, const base::State *sBundleGoal, double locationOnBasePathGoal);

        protected:
            PathRestriction *restriction_;

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

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

        protected:
            ParameterExponentialDecay neighborhoodRadiusBaseSpace_;

            double neighborhoodRadiusBaseSpaceLambda_{1.0};

            double neighborhoodRadiusBaseSpaceTarget_{0.5};

            double validBaseSpaceSegmentLength_;

            double validBundleSpaceSegmentLength_;

            double validFiberSpaceSegmentLength_;
        };
    }
}

#endif