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<div class="title">AtlasStateSpace.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2014, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">*</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">* * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">* contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">* from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Zachary Kingston, Caleb Voss */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#ifndef OMPL_BASE_SPACES_ATLAS_STATE_SPACE_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define OMPL_BASE_SPACES_ATLAS_STATE_SPACE_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include "ompl/base/StateSampler.h"</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include "ompl/base/ValidStateSampler.h"</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include "ompl/base/Constraint.h"</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include "ompl/datastructures/NearestNeighborsGNAT.h"</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include "ompl/datastructures/PDF.h"</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="preprocessor">#include "ompl/base/spaces/constraint/ConstrainedStateSpace.h"</span></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="preprocessor">#include <boost/math/constants/constants.hpp></span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></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>  <span class="keyword">namespace </span>magic</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>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ATLAS_STATE_SPACE_SAMPLES = 50;</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> ATLAS_STATE_SPACE_EPSILON = 0.05;</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> ATLAS_STATE_SPACE_RHO_MULTIPLIER = 5;</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> ATLAS_STATE_SPACE_ALPHA = boost::math::constants::pi<double>() / 8.0;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> ATLAS_STATE_SPACE_EXPLORATION = 0.75;</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ATLAS_STATE_SPACE_MAX_CHARTS_PER_EXTENSION = 200;</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> ATLAS_STATE_SPACE_BACKOFF = 0.75;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  }</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">namespace </span>base</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  {</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  OMPL_CLASS_FORWARD(AtlasChart);</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  OMPL_CLASS_FORWARD(AtlasStateSpace);</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keyword">class </span>AtlasStateSampler : <span class="keyword">public</span> StateSampler</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="keyword">public</span>:</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <a class="code" href="classompl_1_1base_1_1AtlasStateSampler.html#ad8a0fc7824b684b300bdb28dcea6de0d">AtlasStateSampler</a>(<span class="keyword">const</span> AtlasStateSpace *space);</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  </div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSampler.html#acf6b11271ba004cd728c5914999af2c3">sampleUniform</a>(State *state) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSampler.html#af5aa235ae4f292ee1c7a4905066cff17">sampleUniformNear</a>(State *state, <span class="keyword">const</span> State *near, <span class="keywordtype">double</span> distance) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSampler.html#ad1eb7ed1443bbabf3cc1797c2602a2a8">sampleGaussian</a>(State *state, <span class="keyword">const</span> State *mean, <span class="keywordtype">double</span> stdDev) <span class="keyword">override</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">private</span>:</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keyword">const</span> AtlasStateSpace *atlas_;</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">mutable</span> RNG rng_;</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="l00127"></a><span class="lineno"> 127</span>  <span class="keyword">class </span>AtlasStateSpace : <span class="keyword">public</span> ConstrainedStateSpace</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  {</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keyword">using</span> AtlasChartBiasFunction = std::function<double(AtlasChart *)>;</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keyword">using</span> NNElement = std::pair<const StateType *, std::size_t>;</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  </div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">StateType</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ConstrainedStateSpace::StateType</a></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="keyword">public</span>:</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#a9b685c29e7851a81ac7d03e32ba94bac">StateType</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a9673ee354444d18a0c32d85f232e8382">ConstrainedStateSpace</a> *space) : <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a9673ee354444d18a0c32d85f232e8382">ConstrainedStateSpace</a>::<a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#a9b685c29e7851a81ac7d03e32ba94bac">StateType</a>(space)</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>  }</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  </div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  AtlasChart *<a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#a9ee8e5973620bb16ae278eb1e4f45b3b">getChart</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keywordflow">return</span> chart_;</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  }</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  </div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#ac757ac98d6c7ffc78b86da02361f93dc">setChart</a>(AtlasChart *c)<span class="keyword"> const</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  chart_ = c;</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>  </div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keyword">mutable</span> AtlasChart *chart_{<span class="keyword">nullptr</span>};</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  };</div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html"> 159</a></span>  </div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#ac9680d2943d722a9249dcfe9c2d68c95">AtlasStateSpace</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> &ambientSpace, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ConstraintPtr.html">ConstraintPtr</a> &constraint, <span class="keywordtype">bool</span> separate = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  </div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a1d8b2107cb33703c2113844955ff7007">~AtlasStateSpace</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  </div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html"> 167</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a11dc065788df57321c9699b56f3265d8">clear</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  </div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#ad2298624cc5ca6f2394521fefa71c2ad">allocDefaultStateSampler</a>()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#a9b685c29e7851a81ac7d03e32ba94bac"> 171</a></span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keywordflow">return</span> std::make_shared<AtlasStateSampler>(<span class="keyword">this</span>);</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  }</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  </div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#a9ee8e5973620bb16ae278eb1e4f45b3b"> 176</a></span>  <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a29c6f5739a8b885b64d8ffea760dbf90">allocStateSampler</a>()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordflow">return</span> std::make_shared<AtlasStateSampler>(<span class="keyword">this</span>);</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  }</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  </div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a656b759972d7d6442ba9ebc91a0eb043">copyState</a>(<a class="code" href="classompl_1_1base_1_1State.html">State</a> *destination, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *source)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#ac757ac98d6c7ffc78b86da02361f93dc"> 182</a></span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <a class="code" href="classompl_1_1base_1_1WrapperStateSpace.html#a5cee21956f8dcd825c45cb502f3bfb50">ConstrainedStateSpace::copyState</a>(destination, source);</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  destination-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a>>()->setChart(source-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a>>()-><a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#a9ee8e5973620bb16ae278eb1e4f45b3b">getChart</a>());</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  }</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  </div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <a class="code" href="classompl_1_1base_1_1State.html">State</a> *<a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a96f753e86e24a243b97dab1b37952dba">allocState</a>()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">StateType</a>(<span class="keyword">this</span>);</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  }</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  </div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#acd6ac1018866cc1d7d159ff2d1b55cc7">setEpsilon</a>(<span class="keywordtype">double</span> epsilon)</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  {</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keywordflow">if</span> (epsilon <= 0)</div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#ad2298624cc5ca6f2394521fefa71c2ad"> 202</a></span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::setEpsilon(): "</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="stringliteral">"epsilon must be positive."</span>);</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a7e3637aef4a7b7980e753d8c8c0ba66f">epsilon_</a> = epsilon;</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  }</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  </div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a6776d7b75168ae0cfa1ddc8fa2a4fd9a">setRho</a>(<span class="keywordtype">double</span> rho)</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  {</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="keywordflow">if</span> (rho <= 0)</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::setRho(): "</span></div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a656b759972d7d6442ba9ebc91a0eb043"> 213</a></span>  <span class="stringliteral">"rho must be positive."</span>);</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#aef8f443a2f089e99ed7dbdc9adf51df0">rho_</a> = rho;</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a7fad144043cebd2fd03151620146203e">rho_s_</a> = <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#aef8f443a2f089e99ed7dbdc9adf51df0">rho_</a> / std::pow(1 - <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#ac0fdddcfbeef1fc24a16468311801214">exploration_</a>, 1.0 / <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#ac26fa6580e0ffaa11c388bd19ba8e135">k_</a>);</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  }</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  </div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#acb262b58dc71ed679478066b640f462b">setAlpha</a>(<span class="keywordtype">double</span> alpha)</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  {</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="keywordflow">if</span> (alpha <= 0 || alpha >= boost::math::constants::pi<double>() / 2.)</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::setAlpha(): "</span></div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="stringliteral">"alpha must be in (0, pi/2)."</span>);</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a3726eb53cbf41d2f5bf22c4c357a82a4">cos_alpha_</a> = std::cos(alpha);</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  }</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  </div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a931df43dd9ce03ea021140b93229ccd5">setExploration</a>(<span class="keywordtype">double</span> exploration)</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  {</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keywordflow">if</span> (exploration >= 1)</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"ompl::base::AtlasStateSpace::setExploration(): "</span></div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  <span class="stringliteral">"exploration must be in [0, 1)."</span>);</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#ac0fdddcfbeef1fc24a16468311801214">exploration_</a> = exploration;</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  </div>
<div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a6776d7b75168ae0cfa1ddc8fa2a4fd9a"> 241</a></span>  <span class="comment">// Update sampling radius</span></div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a6776d7b75168ae0cfa1ddc8fa2a4fd9a">setRho</a>(<a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#aef8f443a2f089e99ed7dbdc9adf51df0">rho_</a>);</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  }</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  </div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#aadf582787ca0c1ac2b866080f0e32846">setMaxChartsPerExtension</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> charts)</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  {</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a29464943c968c35f97761fee60121a5e">maxChartsPerExtension_</a> = charts;</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  }</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  </div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#aadfaa634d3461e9c4c60b90725e5d9f9">setBiasFunction</a>(<span class="keyword">const</span> AtlasChartBiasFunction &biasFunction)</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>  <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#ac65baf8bfe82bca037c50d58eac26768">biasFunction_</a> = biasFunction;</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  }</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  </div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#ac81c1a72fb83b2f1c202eb184d070a21">setSeparated</a>(<span class="keywordtype">bool</span> separate)</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  {</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#aec1c3bbc0443fe2f327856770b924268">separate_</a> = separate;</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="l00266"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a931df43dd9ce03ea021140b93229ccd5"> 266</a></span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#af8736b3bd8c1862ae7371db686611b1d">setBackoff</a>(<span class="keywordtype">double</span> backoff)</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  {</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#aa29f947d5b2cce8fccfcd5d22519d2ad">backoff_</a> = backoff;</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  }</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  </div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#ad8d99ac057f7a5fcc5eb055c4a59af54">getEpsilon</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a7e3637aef4a7b7980e753d8c8c0ba66f">epsilon_</a>;</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>  </div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a3a1d190f7a028ffe8f41bececf64f48e">getRho</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#aadf582787ca0c1ac2b866080f0e32846"> 280</a></span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#aef8f443a2f089e99ed7dbdc9adf51df0">rho_</a>;</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  }</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  </div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a685415be3eaedd3e2a312569e0ed6ae1">getAlpha</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00286"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#aadfaa634d3461e9c4c60b90725e5d9f9"> 286</a></span>  <span class="keywordflow">return</span> std::acos(<a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a3726eb53cbf41d2f5bf22c4c357a82a4">cos_alpha_</a>);</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  }</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  </div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a4de1e089669e343ddb796d5173c8acd3">getExploration</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#ac81c1a72fb83b2f1c202eb184d070a21"> 292</a></span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#ac0fdddcfbeef1fc24a16468311801214">exploration_</a>;</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  }</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  </div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a4d2cca457d09a1a8a022bb5a9bdc3d03">getRho_s</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00298"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#af8736b3bd8c1862ae7371db686611b1d"> 298</a></span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a7fad144043cebd2fd03151620146203e">rho_s_</a>;</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  }</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  </div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#ae1f21d5d2d32646d858ca5c50191d550">getMaxChartsPerExtension</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00304"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#ad8d99ac057f7a5fcc5eb055c4a59af54"> 304</a></span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a29464943c968c35f97761fee60121a5e">maxChartsPerExtension_</a>;</div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  }</div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  </div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a0996def390019cfd7771643cdae47507">isSeparated</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00310"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a3a1d190f7a028ffe8f41bececf64f48e"> 310</a></span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#aec1c3bbc0443fe2f327856770b924268">separate_</a>;</div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  }</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  </div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  std::size_t <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a98e19886eb324758dbe947e596760580">getChartCount</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00316"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a685415be3eaedd3e2a312569e0ed6ae1"> 316</a></span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a4e2c8b252c89a942dfb7ea2fd3d62836">charts_</a>.size();</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 class="line"><a name="l00320"></a><span class="lineno"> 320</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a6a3fdde0066aaff2d5d9f5b259617988">getBackoff</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00322"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a4de1e089669e343ddb796d5173c8acd3"> 322</a></span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#aa29f947d5b2cce8fccfcd5d22519d2ad">backoff_</a>;</div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  }</div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  </div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *<a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#acf67311c4c5c681e99fbf3b21e34bce4">newChart</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">StateType</a> *state) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  </div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *<a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a29d7d75c551537d5582440abf3bb36bf">sampleChart</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  </div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *<a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a39f3a4b97f115cbfabf154e29394d104">owningChart</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">StateType</a> *state) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00340"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a0996def390019cfd7771643cdae47507"> 340</a></span>  </div>
<div class="line"><a name="l00346"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a98e19886eb324758dbe947e596760580"> 346</a></span>  <a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *<a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#afb524fb0dc17a128e3662c12690e2292">getChart</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">StateType</a> *state, <span class="keywordtype">bool</span> force = <span class="keyword">false</span>, <span class="keywordtype">bool</span> *created = <span class="keyword">nullptr</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  </div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  <a class="code" href="classompl_1_1base_1_1AtlasChart.html">AtlasChart</a> *<a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a7b811b3a8ac551d83063f6d08e5ba5fe">anchorChart</a>(<span class="keyword">const</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="l00357"></a><span class="lineno"> 357</span>  </div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a794b909f11eaabe07509aad2cf9c29c2">discreteGeodesic</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *from, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *to, <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace.html#a76c3278b1b6efdcd588a6609666281db">interpolate</a> = <span class="keyword">false</span>,</div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  std::vector<State *> *geodesic = <span class="keyword">nullptr</span>) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  </div>
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a2e5e052e74708d7f703d9e7969935fc9">estimateFrontierPercent</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  </div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a6ce0a08ccb4c4b7c41eb83db20f98b65">printPLY</a>(std::ostream &out) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  </div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  <span class="keyword">mutable</span> std::vector<StateType *> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a1707a7af91a7823f0a555fae71b3c10e">anchors_</a>;</div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  </div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  <span class="keyword">mutable</span> std::vector<AtlasChart *> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a4e2c8b252c89a942dfb7ea2fd3d62836">charts_</a>;</div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  </div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  <span class="keyword">mutable</span> <a class="code" href="classompl_1_1PDF.html">PDF<AtlasChart *></a> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a4561491fb48347fc1da92d5922e904cc">chartPDF_</a>;</div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  </div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <span class="keyword">mutable</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html">NearestNeighborsGNAT<NNElement></a> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#aa3c31838cee531ba238bfc2033c78afa">chartNN_</a>;</div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  </div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a7e3637aef4a7b7980e753d8c8c0ba66f">epsilon_</a>{ompl::magic::ATLAS_STATE_SPACE_EPSILON};</div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  </div>
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#aef8f443a2f089e99ed7dbdc9adf51df0">rho_</a>;</div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  </div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a3726eb53cbf41d2f5bf22c4c357a82a4">cos_alpha_</a>;</div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  </div>
<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#ac0fdddcfbeef1fc24a16468311801214">exploration_</a>;</div>
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  </div>
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  <span class="keyword">mutable</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a7fad144043cebd2fd03151620146203e">rho_s_</a>;</div>
<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  </div>
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#aa29f947d5b2cce8fccfcd5d22519d2ad">backoff_</a>{ompl::magic::ATLAS_STATE_SPACE_BACKOFF};</div>
<div class="line"><a name="l00418"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a1707a7af91a7823f0a555fae71b3c10e"> 418</a></span>  </div>
<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#a29464943c968c35f97761fee60121a5e">maxChartsPerExtension_</a>{ompl::magic::ATLAS_STATE_SPACE_MAX_CHARTS_PER_EXTENSION};</div>
<div class="line"><a name="l00421"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a4e2c8b252c89a942dfb7ea2fd3d62836"> 421</a></span>  </div>
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  AtlasChartBiasFunction <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#ac65baf8bfe82bca037c50d58eac26768">biasFunction_</a>;</div>
<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  </div>
<div class="line"><a name="l00428"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#aa3c31838cee531ba238bfc2033c78afa"> 428</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#aec1c3bbc0443fe2f327856770b924268">separate_</a>;</div>
<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  </div>
<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  <span class="keyword">mutable</span> <a class="code" href="classompl_1_1RNG.html">RNG</a> <a class="code" href="classompl_1_1base_1_1AtlasStateSpace.html#ab775301c175d22645c5548732ccdaaa5">rng_</a>;</div>
<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  };</div>
<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  }</div>
<div class="line"><a name="l00434"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1AtlasStateSpace.html#a7e3637aef4a7b7980e753d8c8c0ba66f"> 434</a></span> }</div>
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  </div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span> <span class="preprocessor">#endif</span></div>
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<div class="ttc" id="aclassompl_1_1RNG_html"><div class="ttname"><a href="classompl_1_1RNG.html">ompl::RNG</a></div><div class="ttdoc">Random number generation. An instance of this class cannot be used by multiple threads at once (membe...</div><div class="ttdef"><b>Definition:</b> <a href="RandomNumbers_8h_source.html#l00089">RandomNumbers.h:89</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_acf67311c4c5c681e99fbf3b21e34bce4"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#acf67311c4c5c681e99fbf3b21e34bce4">ompl::base::AtlasStateSpace::newChart</a></div><div class="ttdeci">AtlasChart * newChart(const StateType *state) const</div><div class="ttdoc">Create a new chart for the atlas, centered at xorigin, which should be on the manifold....</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00265">AtlasStateSpace.cpp:265</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a6a3fdde0066aaff2d5d9f5b259617988"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a6a3fdde0066aaff2d5d9f5b259617988">ompl::base::AtlasStateSpace::getBackoff</a></div><div class="ttdeci">double getBackoff() const</div><div class="ttdoc">Returns the current backoff factor used in manifold traversal.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00352">AtlasStateSpace.h:352</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_1_1StateType_html"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html">ompl::base::AtlasStateSpace::StateType</a></div><div class="ttdoc">A state in an atlas represented as a real vector in ambient space and a chart that it belongs to.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00167">AtlasStateSpace.h:167</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a4561491fb48347fc1da92d5922e904cc"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a4561491fb48347fc1da92d5922e904cc">ompl::base::AtlasStateSpace::chartPDF_</a></div><div class="ttdeci">PDF< AtlasChart * > chartPDF_</div><div class="ttdoc">PDF of charts according to a bias function.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00424">AtlasStateSpace.h:424</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a96f753e86e24a243b97dab1b37952dba"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a96f753e86e24a243b97dab1b37952dba">ompl::base::AtlasStateSpace::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="AtlasStateSpace_8h_source.html#l00220">AtlasStateSpace.h:220</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a29c6f5739a8b885b64d8ffea760dbf90"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a29c6f5739a8b885b64d8ffea760dbf90">ompl::base::AtlasStateSpace::allocStateSampler</a></div><div class="ttdeci">StateSamplerPtr allocStateSampler() const override</div><div class="ttdoc">Allocate the previously set state sampler for this space.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00208">AtlasStateSpace.h:208</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstraintPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1ConstraintPtr.html">ConstraintPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::Constraint.</div></div>
<div class="ttc" id="aclassompl_1_1NearestNeighborsGNAT_html"><div class="ttname"><a href="classompl_1_1NearestNeighborsGNAT.html">ompl::NearestNeighborsGNAT< NNElement ></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_1AtlasStateSpace_html_ae1f21d5d2d32646d858ca5c50191d550"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#ae1f21d5d2d32646d858ca5c50191d550">ompl::base::AtlasStateSpace::getMaxChartsPerExtension</a></div><div class="ttdeci">unsigned int getMaxChartsPerExtension() const</div><div class="ttdoc">Get the maximum number of charts to create in one pass.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00334">AtlasStateSpace.h:334</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_aa3c31838cee531ba238bfc2033c78afa"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#aa3c31838cee531ba238bfc2033c78afa">ompl::base::AtlasStateSpace::chartNN_</a></div><div class="ttdeci">NearestNeighborsGNAT< NNElement > chartNN_</div><div class="ttdoc">Set of chart centers and indices, accessible by nearest-neighbor queries to the chart centers.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00428">AtlasStateSpace.h:428</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a1707a7af91a7823f0a555fae71b3c10e"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a1707a7af91a7823f0a555fae71b3c10e">ompl::base::AtlasStateSpace::anchors_</a></div><div class="ttdeci">std::vector< StateType * > anchors_</div><div class="ttdoc">Set of states on which there are anchored charts.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00418">AtlasStateSpace.h:418</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSampler_html_af5aa235ae4f292ee1c7a4905066cff17"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSampler.html#af5aa235ae4f292ee1c7a4905066cff17">ompl::base::AtlasStateSampler::sampleUniformNear</a></div><div class="ttdeci">void sampleUniformNear(State *state, const State *near, double distance) override</div><div class="ttdoc">Sample a state uniformly from the ball with center near and radius distance. Return sample in state.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00099">AtlasStateSpace.cpp:99</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html"><div class="ttname"><a href="classompl_1_1base_1_1State.html">ompl::base::State</a></div><div class="ttdoc">Definition of an abstract state.</div><div class="ttdef"><b>Definition:</b> <a href="State_8h_source.html#l00113">State.h:113</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_aec1c3bbc0443fe2f327856770b924268"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#aec1c3bbc0443fe2f327856770b924268">ompl::base::AtlasStateSpace::separate_</a></div><div class="ttdeci">bool separate_</div><div class="ttdoc">Enable or disable halfspace separation of the charts.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00460">AtlasStateSpace.h:460</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a4de1e089669e343ddb796d5173c8acd3"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a4de1e089669e343ddb796d5173c8acd3">ompl::base::AtlasStateSpace::getExploration</a></div><div class="ttdeci">double getExploration() const</div><div class="ttdoc">Get the exploration parameter.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00322">AtlasStateSpace.h:322</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_af8736b3bd8c1862ae7371db686611b1d"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#af8736b3bd8c1862ae7371db686611b1d">ompl::base::AtlasStateSpace::setBackoff</a></div><div class="ttdeci">void setBackoff(double backoff)</div><div class="ttdoc">Sets the backoff factor in manifold traversal factor.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00298">AtlasStateSpace.h:298</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a11dc065788df57321c9699b56f3265d8"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a11dc065788df57321c9699b56f3265d8">ompl::base::AtlasStateSpace::clear</a></div><div class="ttdeci">void clear() override</div><div class="ttdoc">Reset the space (except for anchor charts).</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00226">AtlasStateSpace.cpp:226</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a4d2cca457d09a1a8a022bb5a9bdc3d03"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a4d2cca457d09a1a8a022bb5a9bdc3d03">ompl::base::AtlasStateSpace::getRho_s</a></div><div class="ttdeci">double getRho_s() const</div><div class="ttdoc">Get the sampling radius.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00328">AtlasStateSpace.h:328</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a7b811b3a8ac551d83063f6d08e5ba5fe"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a7b811b3a8ac551d83063f6d08e5ba5fe">ompl::base::AtlasStateSpace::anchorChart</a></div><div class="ttdeci">AtlasChart * anchorChart(const State *state) const</div><div class="ttdoc">Wrapper for newChart(). Charts created this way will persist through calls to clear().</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00251">AtlasStateSpace.cpp:251</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_ab775301c175d22645c5548732ccdaaa5"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#ab775301c175d22645c5548732ccdaaa5">ompl::base::AtlasStateSpace::rng_</a></div><div class="ttdeci">RNG rng_</div><div class="ttdoc">Random number generator.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00463">AtlasStateSpace.h:463</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSampler_html_ad1eb7ed1443bbabf3cc1797c2602a2a8"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSampler.html#ad1eb7ed1443bbabf3cc1797c2602a2a8">ompl::base::AtlasStateSampler::sampleGaussian</a></div><div class="ttdeci">void sampleGaussian(State *state, const State *mean, double stdDev) override</div><div class="ttdoc">Sample a state uniformly from a normal distribution with given mean and stdDev. Return sample in stat...</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00150">AtlasStateSpace.cpp:150</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_aadfaa634d3461e9c4c60b90725e5d9f9"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#aadfaa634d3461e9c4c60b90725e5d9f9">ompl::base::AtlasStateSpace::setBiasFunction</a></div><div class="ttdeci">void setBiasFunction(const AtlasChartBiasFunction &biasFunction)</div><div class="ttdoc">Sets bias function for sampling.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00286">AtlasStateSpace.h:286</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a7fad144043cebd2fd03151620146203e"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a7fad144043cebd2fd03151620146203e">ompl::base::AtlasStateSpace::rho_s_</a></div><div class="ttdeci">double rho_s_</div><div class="ttdoc">Sampling radius within a chart. Inferred from rho and exploration parameters.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00446">AtlasStateSpace.h:446</a></div></div>
<div class="ttc" id="aclassompl_1_1PDF_html"><div class="ttname"><a href="classompl_1_1PDF.html">ompl::PDF</a></div><div class="ttdoc">A container that supports probabilistic sampling over weighted data.</div><div class="ttdef"><b>Definition:</b> <a href="PDF_8h_source.html#l00080">PDF.h:80</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html_a6178474307b3f364184db9999a639af1"><div class="ttname"><a href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">ompl::base::State::as</a></div><div class="ttdeci">const T * as() const</div><div class="ttdoc">Cast this instance to a desired type.</div><div class="ttdef"><b>Definition:</b> <a href="State_8h_source.html#l00162">State.h:162</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_ad2298624cc5ca6f2394521fefa71c2ad"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#ad2298624cc5ca6f2394521fefa71c2ad">ompl::base::AtlasStateSpace::allocDefaultStateSampler</a></div><div class="ttdeci">StateSamplerPtr allocDefaultStateSampler() const override</div><div class="ttdoc">Allocate the default state sampler for this space.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00202">AtlasStateSpace.h:202</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpace_html_a358860aabda701b73fb0fe01cbdfb0d3"><div class="ttname"><a href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ompl::base::StateSpace::StateType</a></div><div class="ttdeci">ompl::base::State StateType</div><div class="ttdoc">Define the type of state allocated by this space.</div><div class="ttdef"><b>Definition:</b> <a href="StateSpace_8h_source.html#l00142">StateSpace.h:142</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_aa29f947d5b2cce8fccfcd5d22519d2ad"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#aa29f947d5b2cce8fccfcd5d22519d2ad">ompl::base::AtlasStateSpace::backoff_</a></div><div class="ttdeci">double backoff_</div><div class="ttdoc">Step size reduction factor during manifold traversal.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00449">AtlasStateSpace.h:449</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a29d7d75c551537d5582440abf3bb36bf"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a29d7d75c551537d5582440abf3bb36bf">ompl::base::AtlasStateSpace::sampleChart</a></div><div class="ttdeci">AtlasChart * sampleChart() const</div><div class="ttdoc">Pick a chart at random.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00309">AtlasStateSpace.cpp:309</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a685415be3eaedd3e2a312569e0ed6ae1"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a685415be3eaedd3e2a312569e0ed6ae1">ompl::base::AtlasStateSpace::getAlpha</a></div><div class="ttdeci">double getAlpha() const</div><div class="ttdoc">Get alpha.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00316">AtlasStateSpace.h:316</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_1_1StateType_html_ac757ac98d6c7ffc78b86da02361f93dc"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#ac757ac98d6c7ffc78b86da02361f93dc">ompl::base::AtlasStateSpace::StateType::setChart</a></div><div class="ttdeci">void setChart(AtlasChart *c) const</div><div class="ttdoc">Set the chart c for the state.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00182">AtlasStateSpace.h:182</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_ad8d99ac057f7a5fcc5eb055c4a59af54"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#ad8d99ac057f7a5fcc5eb055c4a59af54">ompl::base::AtlasStateSpace::getEpsilon</a></div><div class="ttdeci">double getEpsilon() const</div><div class="ttdoc">Get epsilon.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00304">AtlasStateSpace.h:304</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_aef8f443a2f089e99ed7dbdc9adf51df0"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#aef8f443a2f089e99ed7dbdc9adf51df0">ompl::base::AtlasStateSpace::rho_</a></div><div class="ttdeci">double rho_</div><div class="ttdoc">Maximum radius of chart validity region.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00437">AtlasStateSpace.h:437</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a931df43dd9ce03ea021140b93229ccd5"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a931df43dd9ce03ea021140b93229ccd5">ompl::base::AtlasStateSpace::setExploration</a></div><div class="ttdeci">void setExploration(double exploration)</div><div class="ttdoc">Set the exploration parameter, which tunes the balance of refinement (sampling within known regions) ...</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00266">AtlasStateSpace.h:266</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_html_ac26fa6580e0ffaa11c388bd19ba8e135"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace.html#ac26fa6580e0ffaa11c388bd19ba8e135">ompl::base::ConstrainedStateSpace::k_</a></div><div class="ttdeci">const unsigned int k_</div><div class="ttdoc">Manifold dimension.</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00359">ConstrainedStateSpace.h:359</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a3a1d190f7a028ffe8f41bececf64f48e"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a3a1d190f7a028ffe8f41bececf64f48e">ompl::base::AtlasStateSpace::getRho</a></div><div class="ttdeci">double getRho() const</div><div class="ttdoc">Get rho.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00310">AtlasStateSpace.h:310</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a4e2c8b252c89a942dfb7ea2fd3d62836"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a4e2c8b252c89a942dfb7ea2fd3d62836">ompl::base::AtlasStateSpace::charts_</a></div><div class="ttdeci">std::vector< AtlasChart * > charts_</div><div class="ttdoc">Set of charts.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00421">AtlasStateSpace.h:421</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_ac65baf8bfe82bca037c50d58eac26768"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#ac65baf8bfe82bca037c50d58eac26768">ompl::base::AtlasStateSpace::biasFunction_</a></div><div class="ttdeci">AtlasChartBiasFunction biasFunction_</div><div class="ttdoc">Function to bias chart sampling.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00457">AtlasStateSpace.h:457</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a0996def390019cfd7771643cdae47507"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a0996def390019cfd7771643cdae47507">ompl::base::AtlasStateSpace::isSeparated</a></div><div class="ttdeci">bool isSeparated() const</div><div class="ttdoc">Returns whether the atlas is separating charts or not.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00340">AtlasStateSpace.h:340</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasChart_html"><div class="ttname"><a href="classompl_1_1base_1_1AtlasChart.html">ompl::base::AtlasChart</a></div><div class="ttdoc">Tangent space and bounding polytope approximating some patch of the manifold.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasChart_8h_source.html#l00116">AtlasChart.h:116</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_acd6ac1018866cc1d7d159ff2d1b55cc7"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#acd6ac1018866cc1d7d159ff2d1b55cc7">ompl::base::AtlasStateSpace::setEpsilon</a></div><div class="ttdeci">void setEpsilon(double epsilon)</div><div class="ttdoc">Set epsilon, the maximum permissible distance between a point in the validity region of a chart and i...</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00231">AtlasStateSpace.h:231</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a656b759972d7d6442ba9ebc91a0eb043"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a656b759972d7d6442ba9ebc91a0eb043">ompl::base::AtlasStateSpace::copyState</a></div><div class="ttdeci">void copyState(State *destination, const State *source) const override</div><div class="ttdoc">Copy a state to another. The memory of source and destination should NOT overlap.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00213">AtlasStateSpace.h:213</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a6ce0a08ccb4c4b7c41eb83db20f98b65"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a6ce0a08ccb4c4b7c41eb83db20f98b65">ompl::base::AtlasStateSpace::printPLY</a></div><div class="ttdeci">void printPLY(std::ostream &out) const</div><div class="ttdoc">Write a mesh representation of the atlas to a stream.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00508">AtlasStateSpace.cpp:508</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_1_1StateType_html_a9b685c29e7851a81ac7d03e32ba94bac"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#a9b685c29e7851a81ac7d03e32ba94bac">ompl::base::AtlasStateSpace::StateType::StateType</a></div><div class="ttdeci">StateType(const ConstrainedStateSpace *space)</div><div class="ttdoc">Construct state of size n.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00171">AtlasStateSpace.h:171</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a29464943c968c35f97761fee60121a5e"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a29464943c968c35f97761fee60121a5e">ompl::base::AtlasStateSpace::maxChartsPerExtension_</a></div><div class="ttdeci">unsigned int maxChartsPerExtension_</div><div class="ttdoc">Maximum number of charts that can be created in one manifold traversal.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00452">AtlasStateSpace.h:452</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSpacePtr_html"><div class="ttname"><a href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::StateSpace.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a6776d7b75168ae0cfa1ddc8fa2a4fd9a"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a6776d7b75168ae0cfa1ddc8fa2a4fd9a">ompl::base::AtlasStateSpace::setRho</a></div><div class="ttdeci">void setRho(double rho)</div><div class="ttdoc">Set rho, the maximum radius for which a chart is valid. Default 0.1.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00241">AtlasStateSpace.h:241</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a794b909f11eaabe07509aad2cf9c29c2"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a794b909f11eaabe07509aad2cf9c29c2">ompl::base::AtlasStateSpace::discreteGeodesic</a></div><div class="ttdeci">bool discreteGeodesic(const State *from, const State *to, bool interpolate=false, std::vector< State * > *geodesic=nullptr) const override</div><div class="ttdoc">Traverse the manifold from from toward to. Returns true if we reached to, and false if we stopped ear...</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00370">AtlasStateSpace.cpp:370</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_1_1StateType_html_a9ee8e5973620bb16ae278eb1e4f45b3b"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace_1_1StateType.html#a9ee8e5973620bb16ae278eb1e4f45b3b">ompl::base::AtlasStateSpace::StateType::getChart</a></div><div class="ttdeci">AtlasChart * getChart() const</div><div class="ttdoc">Get the chart this state is on.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00176">AtlasStateSpace.h:176</a></div></div>
<div class="ttc" id="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_1AtlasStateSampler_html_ad8a0fc7824b684b300bdb28dcea6de0d"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSampler.html#ad8a0fc7824b684b300bdb28dcea6de0d">ompl::base::AtlasStateSampler::AtlasStateSampler</a></div><div class="ttdeci">AtlasStateSampler(const AtlasStateSpace *space)</div><div class="ttdoc">AtlasStateSampler.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00047">AtlasStateSpace.cpp:47</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1WrapperStateSpace_html_a5cee21956f8dcd825c45cb502f3bfb50"><div class="ttname"><a href="classompl_1_1base_1_1WrapperStateSpace.html#a5cee21956f8dcd825c45cb502f3bfb50">ompl::base::WrapperStateSpace::copyState</a></div><div class="ttdeci">void copyState(State *destination, const State *source) const override</div><div class="ttdoc">Copy a state to another. The memory of source and destination should NOT overlap.</div><div class="ttdef"><b>Definition:</b> <a href="WrapperStateSpace_8h_source.html#l00333">WrapperStateSpace.h:333</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a1d8b2107cb33703c2113844955ff7007"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a1d8b2107cb33703c2113844955ff7007">ompl::base::AtlasStateSpace::~AtlasStateSpace</a></div><div class="ttdeci">~AtlasStateSpace() override</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00216">AtlasStateSpace.cpp:216</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_ac81c1a72fb83b2f1c202eb184d070a21"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#ac81c1a72fb83b2f1c202eb184d070a21">ompl::base::AtlasStateSpace::setSeparated</a></div><div class="ttdeci">void setSeparated(bool separate)</div><div class="ttdoc">Sets whether the atlas should separate charts or not.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00292">AtlasStateSpace.h:292</a></div></div>
<div class="ttc" id="aclassompl_1_1Exception_html"><div class="ttname"><a href="classompl_1_1Exception.html">ompl::Exception</a></div><div class="ttdoc">The exception type for ompl.</div><div class="ttdef"><b>Definition:</b> <a href="Exception_8h_source.html#l00078">Exception.h:78</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a2e5e052e74708d7f703d9e7969935fc9"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a2e5e052e74708d7f703d9e7969935fc9">ompl::base::AtlasStateSpace::estimateFrontierPercent</a></div><div class="ttdeci">double estimateFrontierPercent() const</div><div class="ttdoc">Estimate what percentage of atlas charts do not have fully formed polytope boundaries,...</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00499">AtlasStateSpace.cpp:499</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a7e3637aef4a7b7980e753d8c8c0ba66f"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a7e3637aef4a7b7980e753d8c8c0ba66f">ompl::base::AtlasStateSpace::epsilon_</a></div><div class="ttdeci">double epsilon_</div><div class="ttdoc">Maximum distance between a chart and the manifold inside its validity region.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00434">AtlasStateSpace.h:434</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a3726eb53cbf41d2f5bf22c4c357a82a4"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a3726eb53cbf41d2f5bf22c4c357a82a4">ompl::base::AtlasStateSpace::cos_alpha_</a></div><div class="ttdeci">double cos_alpha_</div><div class="ttdoc">Cosine of the maximum angle between a chart and the manifold inside its validity region.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00440">AtlasStateSpace.h:440</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a39f3a4b97f115cbfabf154e29394d104"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a39f3a4b97f115cbfabf154e29394d104">ompl::base::AtlasStateSpace::owningChart</a></div><div class="ttdeci">AtlasChart * owningChart(const StateType *state) const</div><div class="ttdoc">Find the chart to which x belongs. Returns nullptr if no chart found. Assumes x is already on the man...</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00339">AtlasStateSpace.cpp:339</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_aadf582787ca0c1ac2b866080f0e32846"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#aadf582787ca0c1ac2b866080f0e32846">ompl::base::AtlasStateSpace::setMaxChartsPerExtension</a></div><div class="ttdeci">void setMaxChartsPerExtension(unsigned int charts)</div><div class="ttdoc">Sometimes manifold traversal creates many charts. This parameter limits the number of charts that can...</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00280">AtlasStateSpace.h:280</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_ac9680d2943d722a9249dcfe9c2d68c95"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#ac9680d2943d722a9249dcfe9c2d68c95">ompl::base::AtlasStateSpace::AtlasStateSpace</a></div><div class="ttdeci">AtlasStateSpace(const StateSpacePtr &ambientSpace, const ConstraintPtr &constraint, bool separate=true)</div><div class="ttdoc">Construct an atlas with the specified dimensions.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00200">AtlasStateSpace.cpp:200</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_afb524fb0dc17a128e3662c12690e2292"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#afb524fb0dc17a128e3662c12690e2292">ompl::base::AtlasStateSpace::getChart</a></div><div class="ttdeci">AtlasChart * getChart(const StateType *state, bool force=false, bool *created=nullptr) const</div><div class="ttdoc">Wrapper to return chart state belongs to. Will attempt to initialize new chart if state does not belo...</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00318">AtlasStateSpace.cpp:318</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_ac0fdddcfbeef1fc24a16468311801214"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#ac0fdddcfbeef1fc24a16468311801214">ompl::base::AtlasStateSpace::exploration_</a></div><div class="ttdeci">double exploration_</div><div class="ttdoc">Balance between explorationa and refinement.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00443">AtlasStateSpace.h:443</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSampler_html_acf6b11271ba004cd728c5914999af2c3"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSampler.html#acf6b11271ba004cd728c5914999af2c3">ompl::base::AtlasStateSampler::sampleUniform</a></div><div class="ttdeci">void sampleUniform(State *state) override</div><div class="ttdoc">Sample a state uniformly from the charted regions of the manifold. Return sample in state.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8cpp_source.html#l00051">AtlasStateSpace.cpp:51</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_a98e19886eb324758dbe947e596760580"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#a98e19886eb324758dbe947e596760580">ompl::base::AtlasStateSpace::getChartCount</a></div><div class="ttdeci">std::size_t getChartCount() const</div><div class="ttdoc">Return the number of charts currently in the atlas.</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00346">AtlasStateSpace.h:346</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1AtlasStateSpace_html_acb262b58dc71ed679478066b640f462b"><div class="ttname"><a href="classompl_1_1base_1_1AtlasStateSpace.html#acb262b58dc71ed679478066b640f462b">ompl::base::AtlasStateSpace::setAlpha</a></div><div class="ttdeci">void setAlpha(double alpha)</div><div class="ttdoc">Set alpha, the maximum permissible angle between the chart and the manifold inside the validity regio...</div><div class="ttdef"><b>Definition:</b> <a href="AtlasStateSpace_8h_source.html#l00253">AtlasStateSpace.h:253</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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