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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) 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 */</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_BUNDLESPACESEQUENCE_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLESPACESEQUENCE_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/BundleSpace.h></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <ompl/multilevel/datastructures/PlannerMultiLevel.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 <type_traits></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <queue></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</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>  <span class="keyword">namespace </span>base</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  {</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  </div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  OMPL_CLASS_FORWARD(GoalState);</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  OMPL_CLASS_FORWARD(GoalStates);</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  }</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keyword">namespace </span>multilevel</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  {</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keyword">class </span>BundleSpaceSequence : <span class="keyword">public</span> PlannerMultiLevel</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>  <span class="keyword">using</span> BaseT = <a class="code" href="classompl_1_1multilevel_1_1PlannerMultiLevel.html">ompl::multilevel::PlannerMultiLevel</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  static_assert(std::is_base_of<BundleSpace, T>::value, <span class="stringliteral">"Template must inherit from BundleSpace"</span>);</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#af51f65f30042705ea11d04c13d3ba192">BundleSpaceSequence</a>(<a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html">ompl::base::SpaceInformationPtr</a> si,</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  std::string type = <span class="stringliteral">"BundleSpacePlannerNonMultilevel"</span>);</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#af51f65f30042705ea11d04c13d3ba192">BundleSpaceSequence</a>(std::vector<ompl::base::SpaceInformationPtr> &siVec,</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  std::string type = <span class="stringliteral">"BundleSpacePlanner"</span>);</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#af51f65f30042705ea11d04c13d3ba192">BundleSpaceSequence</a>(std::vector<ompl::base::SpaceInformationPtr> &siVec,</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  std::vector<ompl::multilevel::ProjectionPtr> &projVec,</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  std::string type = <span class="stringliteral">"BundleSpacePlannerCustomProjection"</span>);</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#af51f65f30042705ea11d04c13d3ba192">BundleSpaceSequence</a>();</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  </div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keywordtype">void</span> declareBundleSpaces(<span class="keywordtype">bool</span> guessProjection = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  </div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#ad26803bb97bb3886b96c14ede76b70c5">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="l00100"></a><span class="lineno"> 100</span>  </div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <a class="code" href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a9294456febfb4d0b5e83797a81d736d7">solve</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a> &ptc) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  </div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html"> 103</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a0846c460d25a61fc9adbfb62ef85aed5">setup</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#aa005dad76ecddd6af0ade0164540ce0b">clear</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a56698b76ec788a8fb130e24b6beb3a6e">setProblemDefinition</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinitionPtr.html">ompl::base::ProblemDefinitionPtr</a> &pdef) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  </div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordtype">void</span> setStopLevel(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> level_);</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_1BundleSpaceSequence.html#a06eeb65b76d15ca166ed92fdac721f9d">setFindSectionStrategy</a>(FindSectionType type);</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  </div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <a class="code" href="classompl_1_1base_1_1State.html">ompl::base::State</a> *<a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#aec055660b5dadbed3d827fa78dc9ac75">getTotalState</a>(<span class="keywordtype">int</span> baseLevel, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *baseState) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  </div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  std::vector<T *> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a7a45134c9fb9d99963be8a2f0896d093">bundleSpaces_</a>;</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  </div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#aa5dc011288f3fdd2df399afe08c4e67e">foundKLevelSolution_</a>{<span class="keyword">false</span>};</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  </div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a2f46e5035435a3b3804b1f37c9c471bd">currentBundleSpaceLevel_</a>{0};</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  </div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#adde170cd45f6ccc5f204152c3ff198b5">stopAtLevel_</a>;</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  </div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keyword">struct </span>CmpBundleSpacePtrs</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  {</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="comment">// ">" operator: smallest value is top in queue</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="comment">// "<" operator: largest value is top in queue (default)</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keywordtype">bool</span> operator()(<span class="keyword">const</span> BundleSpace *lhs, <span class="keyword">const</span> BundleSpace *rhs)<span class="keyword"> const</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keywordflow">return</span> lhs->getImportance() < rhs->getImportance();</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  }</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  };</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keyword">typedef</span> std::priority_queue<BundleSpace *, std::vector<BundleSpace *>, CmpBundleSpacePtrs></div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a79de5875d73bb9f44d5efecfbff6e7bb">BundleSpacePriorityQueue</a>;</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a79de5875d73bb9f44d5efecfbff6e7bb">BundleSpacePriorityQueue</a> priorityQueue_;</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  };</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  } <span class="comment">// namespace multilevel</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span> } <span class="comment">// namespace ompl</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> <span class="preprocessor">#include "BundleSpaceSequenceImpl.h"</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_aec055660b5dadbed3d827fa78dc9ac75"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#aec055660b5dadbed3d827fa78dc9ac75">ompl::multilevel::BundleSpaceSequence::getTotalState</a></div><div class="ttdeci">ompl::base::State * getTotalState(int baseLevel, const base::State *baseState) const</div><div class="ttdoc">Starting from a baseState on baseLevel, we lift it iteratively upwards into the total space of the se...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequenceImpl_8h_source.html#l00347">BundleSpaceSequenceImpl.h:347</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_1BundleSpaceSequence_html_a9294456febfb4d0b5e83797a81d736d7"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a9294456febfb4d0b5e83797a81d736d7">ompl::multilevel::BundleSpaceSequence::solve</a></div><div class="ttdeci">ompl::base::PlannerStatus solve(const ompl::base::PlannerTerminationCondition &ptc) override</div><div class="ttdoc">Function that can solve the motion planning problem. This function can be called multiple times on th...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequenceImpl_8h_source.html#l00180">BundleSpaceSequenceImpl.h:180</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_1BundleSpaceSequence_html_a2f46e5035435a3b3804b1f37c9c471bd"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a2f46e5035435a3b3804b1f37c9c471bd">ompl::multilevel::BundleSpaceSequence::currentBundleSpaceLevel_</a></div><div class="ttdeci">unsigned int currentBundleSpaceLevel_</div><div class="ttdoc">Current level on which we have not yet found a path.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequence_8h_source.html#l00160">BundleSpaceSequence.h:160</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_a56698b76ec788a8fb130e24b6beb3a6e"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a56698b76ec788a8fb130e24b6beb3a6e">ompl::multilevel::BundleSpaceSequence::setProblemDefinition</a></div><div class="ttdeci">virtual void setProblemDefinition(const ompl::base::ProblemDefinitionPtr &pdef) override</div><div class="ttdoc">Set the problem definition for the planner. The problem needs to be set before calling solve()....</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequenceImpl_8h_source.html#l00257">BundleSpaceSequenceImpl.h:257</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_a7a45134c9fb9d99963be8a2f0896d093"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a7a45134c9fb9d99963be8a2f0896d093">ompl::multilevel::BundleSpaceSequence::bundleSpaces_</a></div><div class="ttdeci">std::vector< T * > bundleSpaces_</div><div class="ttdoc">Sequence of BundleSpaces.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequence_8h_source.html#l00154">BundleSpaceSequence.h:154</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_1BundleSpaceSequence_html_a79de5875d73bb9f44d5efecfbff6e7bb"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a79de5875d73bb9f44d5efecfbff6e7bb">ompl::multilevel::BundleSpaceSequence::BundleSpacePriorityQueue</a></div><div class="ttdeci">std::priority_queue< BundleSpace *, std::vector< BundleSpace * >, CmpBundleSpacePtrs > BundleSpacePriorityQueue</div><div class="ttdoc">Priority queue of BundleSpaces which keeps track of how often every graph on each space has been expa...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequence_8h_source.html#l00180">BundleSpaceSequence.h:180</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_af51f65f30042705ea11d04c13d3ba192"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#af51f65f30042705ea11d04c13d3ba192">ompl::multilevel::BundleSpaceSequence::BundleSpaceSequence</a></div><div class="ttdeci">BundleSpaceSequence(ompl::base::SpaceInformationPtr si, std::string type="BundleSpacePlannerNonMultilevel")</div><div class="ttdoc">Non-multilevel Mode: Calling with a single ompl::base::SpaceInformationPtr will revert to standard pl...</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequenceImpl_8h_source.html#l00048">BundleSpaceSequenceImpl.h:48</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerTerminationCondition_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerTerminationCondition.html">ompl::base::PlannerTerminationCondition</a></div><div class="ttdoc">Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...</div><div class="ttdef"><b>Definition:</b> <a href="PlannerTerminationCondition_8h_source.html#l00127">PlannerTerminationCondition.h:127</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_ad26803bb97bb3886b96c14ede76b70c5"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#ad26803bb97bb3886b96c14ede76b70c5">ompl::multilevel::BundleSpaceSequence::getPlannerData</a></div><div class="ttdeci">virtual void getPlannerData(ompl::base::PlannerData &data) const override</div><div class="ttdoc">Return annotated vertices (with information about BundleSpace level)</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequenceImpl_8h_source.html#l00376">BundleSpaceSequenceImpl.h:376</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_aa005dad76ecddd6af0ade0164540ce0b"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#aa005dad76ecddd6af0ade0164540ce0b">ompl::multilevel::BundleSpaceSequence::clear</a></div><div class="ttdeci">virtual void clear() override</div><div class="ttdoc">Clear multilevel planner by clearing all levels.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequenceImpl_8h_source.html#l00162">BundleSpaceSequenceImpl.h:162</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div><div class="ttdoc">A class to store the exit status of Planner::solve()</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00112">PlannerStatus.h:112</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ProblemDefinitionPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1ProblemDefinitionPtr.html">ProblemDefinitionPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::ProblemDefinition.</div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_adde170cd45f6ccc5f204152c3ff198b5"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#adde170cd45f6ccc5f204152c3ff198b5">ompl::multilevel::BundleSpaceSequence::stopAtLevel_</a></div><div class="ttdeci">unsigned int stopAtLevel_</div><div class="ttdoc">Sometimes we only want to plan until a certain BundleSpace level (for debugging for example)....</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequence_8h_source.html#l00165">BundleSpaceSequence.h:165</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_a0846c460d25a61fc9adbfb62ef85aed5"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a0846c460d25a61fc9adbfb62ef85aed5">ompl::multilevel::BundleSpaceSequence::setup</a></div><div class="ttdeci">virtual 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="BundleSpaceSequenceImpl_8h_source.html#l00151">BundleSpaceSequenceImpl.h:151</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1PlannerMultiLevel_html"><div class="ttname"><a href="classompl_1_1multilevel_1_1PlannerMultiLevel.html">ompl::multilevel::PlannerMultiLevel</a></div><div class="ttdoc">MultiLevel Planner Interface. Extends base::Planner by allowing sequences of base::SpaceInformationPt...</div><div class="ttdef"><b>Definition:</b> <a href="PlannerMultiLevel_8h_source.html#l00119">PlannerMultiLevel.h:119</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_aa5dc011288f3fdd2df399afe08c4e67e"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#aa5dc011288f3fdd2df399afe08c4e67e">ompl::multilevel::BundleSpaceSequence::foundKLevelSolution_</a></div><div class="ttdeci">bool foundKLevelSolution_</div><div class="ttdoc">Indicator if a solution has been found on the current BundleSpaces.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequence_8h_source.html#l00157">BundleSpaceSequence.h:157</a></div></div>
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceSequence_html_a06eeb65b76d15ca166ed92fdac721f9d"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceSequence.html#a06eeb65b76d15ca166ed92fdac721f9d">ompl::multilevel::BundleSpaceSequence::setFindSectionStrategy</a></div><div class="ttdeci">void setFindSectionStrategy(FindSectionType type)</div><div class="ttdoc">Set strategy to use to solve the find section problem.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceSequenceImpl_8h_source.html#l00138">BundleSpaceSequenceImpl.h:138</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>
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