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<div class="title">ConstrainedPlanningImplicitParallel.cpp</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) 2018, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> *********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Zachary Kingston */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include <utility></span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#include "ConstrainedPlanningCommon.h"</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="keyword">class </span>ParallelBase</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> {</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> getStart(Eigen::VectorXd &x) = 0;</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> getGoal(Eigen::VectorXd &x) = 0;</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</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="keyword">class </span>ParallelChain : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1Constraint.html">ob::Constraint</a>, <span class="keyword">public</span> ParallelBase</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">public</span>:</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  ParallelChain(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n, Eigen::Vector3d offset, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> links, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> chainNum,</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keywordtype">double</span> length = 1)</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  : <a class="code" href="namespaceompl_1_1base.html">ob</a>::<a class="code" href="classompl_1_1base_1_1Constraint.html#aaefa1497a68c7944e146ff2811023398">Constraint</a>(n, links), offset_(std::move(offset)), links_(links), chainNum_(chainNum), length_(length)</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  {</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordflow">if</span> (links % 2 == 0)</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">ompl::Exception</a>(<span class="stringliteral">"Number of links must be odd!"</span>);</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  }</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  </div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordtype">void</span> getStart(Eigen::VectorXd &x)<span class="keyword"> override</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> angle = boost::math::constants::pi<double>() / 16;</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> offset = 3 * links_ * chainNum_;</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">const</span> Eigen::VectorXd axis =</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  Eigen::AngleAxisd(boost::math::constants::pi<double>() / 2, Eigen::Vector3d::UnitZ()) * offset_;</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keyword">const</span> Eigen::VectorXd step = Eigen::Vector3d::UnitZ() * length_;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  Eigen::VectorXd joint = offset_ + Eigen::AngleAxisd(angle, axis) * step;</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0;</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keywordflow">for</span> (; i < links_; ++i)</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>  x.segment(3 * i + offset, 3) = joint;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordflow">if</span> (i < links_ - 2)</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  joint += step;</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  joint += Eigen::AngleAxisd(-angle, axis) * step;</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>  }</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordtype">void</span> getGoal(Eigen::VectorXd &x)<span class="keyword"> override</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> offset = 3 * links_ * chainNum_;</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">if</span> (links_ == 7)</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  {</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  Eigen::VectorXd nstep = offset_ * length_;</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  Eigen::VectorXd estep =</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  Eigen::AngleAxisd(boost::math::constants::pi<double>() / 2, Eigen::Vector3d::UnitZ()) * offset_ *</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  length_;</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  Eigen::VectorXd sstep =</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  Eigen::AngleAxisd(boost::math::constants::pi<double>(), Eigen::Vector3d::UnitZ()) * offset_ * length_;</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  Eigen::VectorXd wstep =</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  Eigen::AngleAxisd(3 * boost::math::constants::pi<double>() / 2, Eigen::Vector3d::UnitZ()) * offset_ *</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  length_;</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>  Eigen::VectorXd joint = offset_ + nstep;</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  x.segment(3 * 0 + offset, 3) = joint;</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  x.segment(3 * 1 + offset, 3) = x.segment(3 * 0 + offset, 3) + estep;</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  x.segment(3 * 2 + offset, 3) = x.segment(3 * 1 + offset, 3) + estep;</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  x.segment(3 * 3 + offset, 3) = x.segment(3 * 2 + offset, 3) + Eigen::Vector3d::UnitZ() * length_;</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  x.segment(3 * 4 + offset, 3) = x.segment(3 * 3 + offset, 3) + sstep;</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  x.segment(3 * 5 + offset, 3) = x.segment(3 * 4 + offset, 3) + sstep;</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  x.segment(3 * 6 + offset, 3) = x.segment(3 * 5 + offset, 3) + wstep;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  }</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordflow">else</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>  Eigen::VectorXd step = offset_ * length_;</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  Eigen::VectorXd joint = offset_ + step;</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  </div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0;</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordflow">for</span> (; i < links_ / 2; ++i, joint += step)</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  x.segment(3 * i + offset, 3) = joint;</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  joint += Eigen::Vector3d::UnitZ() * length_ - step;</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordflow">for</span> (; i < links_; ++i, joint -= step)</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  x.segment(3 * i + offset, 3) = joint;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  }</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  }</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  </div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  Eigen::Ref<const Eigen::VectorXd> getLink(<span class="keyword">const</span> Eigen::VectorXd &x, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx)<span class="keyword"> const</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> offset = 3 * links_ * chainNum_;</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordflow">return</span> x.segment(offset + 3 * idx, 3);</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  }</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  </div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordtype">void</span> <span class="keyword">function</span>(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::VectorXd> out) <span class="keyword">const</span> <span class="keyword">override</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  {</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx = 0;</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  Eigen::VectorXd j1 = offset_;</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < links_; ++i)</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  {</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keyword">const</span> Eigen::VectorXd j2 = getLink(x, i);</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  out[idx++] = (j1 - j2).norm() - length_;</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  j1 = j2;</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>  }</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  </div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1Constraint.html#a7f15239c4bbc8b1b8a36e7579d47346c">jacobian</a>(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::MatrixXd> out)<span class="keyword"> const override</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="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> offset = 3 * links_ * chainNum_;</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  out.setZero();</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  </div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  Eigen::VectorXd plus(3 * (links_ + 1));</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  plus.head(3 * links_) = x.segment(offset, 3 * links_);</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  plus.tail(3) = Eigen::VectorXd::Zero(3);</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>  Eigen::VectorXd minus(3 * (links_ + 1));</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  minus.head(3) = offset_;</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  minus.tail(3 * links_) = x.segment(offset, 3 * links_);</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  </div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keyword">const</span> Eigen::VectorXd diagonal = plus - minus;</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>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < links_; i++)</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  out.row(i).segment(3 * i + offset, 3) = diagonal.segment(3 * i, 3).normalized();</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  </div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  out.block(1, offset, links_ - 1, 3 * links_ - 3) -= out.block(1, offset + 3, links_ - 1, 3 * links_ - 3);</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  }</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  </div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> <span class="keyword">private</span>:</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keyword">const</span> Eigen::Vector3d offset_;</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> links_;</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> chainNum_;</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> length_;</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> };</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  </div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span> <span class="keyword">class </span>ParallelPlatform : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1Constraint.html">ob::Constraint</a>, <span class="keyword">public</span> ParallelBase</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> {</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  ParallelPlatform(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> links, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> chains, <span class="keywordtype">double</span> radius = 1)</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  : <a class="code" href="namespaceompl_1_1base.html">ob</a>::<a class="code" href="classompl_1_1base_1_1Constraint.html#aaefa1497a68c7944e146ff2811023398">Constraint</a>(3 * links * chains, chains), links_(links), chains_(chains), radius_(radius)</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  {</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keywordflow">if</span> (chains == 2)</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <a class="code" href="classompl_1_1base_1_1Constraint.html#ac22291e02a0e3f2063f0a92eac0b70e7">setManifoldDimension</a>(k_ + 1);</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  </div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keywordflow">if</span> (chains >= 4)</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <a class="code" href="classompl_1_1base_1_1Constraint.html#ac22291e02a0e3f2063f0a92eac0b70e7">setManifoldDimension</a>(k_ - (chains - 3));</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  }</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  </div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  Eigen::Ref<const Eigen::VectorXd> getTip(<span class="keyword">const</span> Eigen::VectorXd &x, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span>)<span class="keyword"> const</span></div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="keywordflow">return</span> x.segment(3 * links_ * ((<span class="keywordtype">id</span> % chains_) + 1) - 3, 3);</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  }</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  </div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="keywordtype">void</span> <span class="keyword">function</span>(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::VectorXd> out) <span class="keyword">const</span> <span class="keyword">override</span></div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  {</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keywordflow">if</span> (chains_ == 2)</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  {</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  out[0] = (getTip(x, 0) - getTip(x, 1)).norm() - radius_ * 2;</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordflow">return</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="l00193"></a><span class="lineno"> 193</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx = 0;</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  </div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  Eigen::Vector3d centroid = Eigen::Vector3d::Zero();</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < chains_; ++i)</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  centroid += getTip(x, i);</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  centroid /= chains_;</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  </div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < chains_; ++i)</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  out[idx++] = (centroid - getTip(x, i)).norm() - radius_;</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  </div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < chains_ - 3; ++i)</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  {</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keyword">const</span> Eigen::Vector3d ab = getTip(x, i + 1) - getTip(x, i);</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keyword">const</span> Eigen::Vector3d ac = getTip(x, i + 2) - getTip(x, i);</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keyword">const</span> Eigen::Vector3d ad = getTip(x, i + 3) - getTip(x, i);</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  </div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  out[idx++] = ad.dot(ab.cross(ac));</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>  }</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  </div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keywordtype">void</span> getStart(Eigen::VectorXd &)<span class="keyword"> override</span></div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  }</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  </div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keywordtype">void</span> getGoal(Eigen::VectorXd &)<span class="keyword"> override</span></div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  }</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  </div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span> <span class="keyword">private</span>:</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> links_;</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> chains_;</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> radius_;</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> };</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  </div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span> <span class="keyword">class </span>ParallelConstraint : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1ConstraintIntersection.html">ob::ConstraintIntersection</a>, <span class="keyword">public</span> ParallelBase</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span> {</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  ParallelConstraint(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> links, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> chains, <span class="keywordtype">double</span> radius = 1, <span class="keywordtype">double</span> length = 1,</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="keywordtype">double</span> jointRadius = 0.2)</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  : <a class="code" href="namespaceompl_1_1base.html">ob</a>::<a class="code" href="classompl_1_1base_1_1ConstraintIntersection.html#abcd2f27cffe4da7246b2742a257071d0">ConstraintIntersection</a>(3 * links * chains, {})</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  , links_(links)</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  , chains_(chains)</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  , radius_(radius)</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  , length_(length)</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  , jointRadius_(jointRadius)</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  {</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  Eigen::Vector3d offset = Eigen::Vector3d::UnitX();</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < chains_; ++i)</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  {</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  addConstraint(std::make_shared<ParallelChain>(chains * links * 3, offset, links, i, length));</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  offset =</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  Eigen::AngleAxisd(2 * boost::math::constants::pi<double>() / (<span class="keywordtype">double</span>)chains, Eigen::Vector3d::UnitZ()) *</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  offset;</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  }</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  </div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  addConstraint(std::make_shared<ParallelPlatform>(links, chains, radius));</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>  </div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="keywordtype">void</span> getStart(Eigen::VectorXd &x)<span class="keyword"> override</span></div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  x = Eigen::VectorXd(3 * links_ * chains_);</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &constraint : constraints_)</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  std::dynamic_pointer_cast<ParallelBase>(constraint)->getStart(x);</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  }</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  </div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="keywordtype">void</span> getGoal(Eigen::VectorXd &x)<span class="keyword"> override</span></div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  x = Eigen::VectorXd(3 * links_ * chains_);</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &constraint : constraints_)</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  std::dynamic_pointer_cast<ParallelBase>(constraint)->getGoal(x);</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  }</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  </div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  ob::StateSpacePtr createSpace()<span class="keyword"> const</span></div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="keyword">auto</span> rvss = std::make_shared<ob::RealVectorStateSpace>(3 * links_ * chains_);</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html">ob::RealVectorBounds</a> bounds(3 * links_ * chains_);</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>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> c = 0; c < chains_; ++c)</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  {</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> o = 3 * c * links_;</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < (int)links_; ++i)</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  {</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  bounds.setLow(o + 3 * i + 0, -i - 2);</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  bounds.setHigh(o + 3 * i + 0, i + 2);</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  </div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  bounds.setLow(o + 3 * i + 1, -i - 2);</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  bounds.setHigh(o + 3 * i + 1, i + 2);</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  </div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  bounds.setLow(o + 3 * i + 2, -i - 2);</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  bounds.setHigh(o + 3 * i + 2, i + 2);</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  }</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  }</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  </div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  rvss->setBounds(bounds);</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="keywordflow">return</span> rvss;</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  }</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  </div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  <span class="keywordtype">bool</span> isValid(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">ob::State</a> *state)</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  {</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <span class="keyword">auto</span> &&x = *state-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ob::ConstrainedStateSpace::StateType</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>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < links_ * chains_; ++i)</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  {</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="keywordflow">if</span> (x.segment(3 * i, 3)[2] < 0)</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  }</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>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < links_ * chains_ - 1; ++i)</div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  {</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="keywordflow">if</span> (x.segment(3 * i, 3).cwiseAbs().maxCoeff() < jointRadius_)</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  </div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = i + 1; j < links_ * chains_; ++j)</div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  <span class="keywordflow">if</span> ((x.segment(3 * i, 3) - x.segment(3 * j, 3)).cwiseAbs().maxCoeff() < jointRadius_)</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  }</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  </div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</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="l00315"></a><span class="lineno"> 315</span>  ob::ProjectionEvaluatorPtr getProjection(ob::StateSpacePtr space)<span class="keyword"> const</span></div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  <span class="keyword">class </span>ParallelProjection : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html">ob::ProjectionEvaluator</a></div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  {</div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  ParallelProjection(<span class="keyword">const</span> ob::StateSpacePtr &space, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> links, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> chains)</div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  : <a class="code" href="namespaceompl_1_1base.html">ob</a>::ProjectionEvaluator(space), chains_(chains), links_(links)</div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  {</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="l00325"></a><span class="lineno"> 325</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getDimension()<span class="keyword"> const override</span></div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  <span class="keywordflow">return</span> 1;</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  }</div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  </div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  <span class="keywordtype">void</span> defaultCellSizes()<span class="keyword"> override</span></div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  cellSizes_.resize(1);</div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  cellSizes_[0] = 0.1;</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  }</div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  </div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  <span class="keywordtype">void</span> project(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">ob::State</a> *state, Eigen::Ref<Eigen::VectorXd> projection)<span class="keyword"> const override</span></div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  <span class="keyword">auto</span> &&x = *state-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1StateSpace.html#a358860aabda701b73fb0fe01cbdfb0d3">ob::ConstrainedStateSpace::StateType</a>>();</div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  </div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < chains_; ++i)</div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  projection(0) = x[3 * (i + 1) * links_ - 1];</div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  </div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  projection(0) /= chains_;</div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  }</div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  </div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> chains_;</div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> links_;</div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  };</div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  </div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="keywordflow">return</span> std::make_shared<ParallelProjection>(space, links_, chains_);</div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  }</div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  </div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  <span class="keywordtype">void</span> dump(std::ofstream &file)<span class="keyword"> const</span></div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  file << links_ << std::endl;</div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  file << chains_ << std::endl;</div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  file << jointRadius_ << std::endl;</div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  file << length_ << std::endl;</div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  file << radius_ << std::endl;</div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  }</div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  </div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  <span class="keywordtype">void</span> addBenchmarkParameters(<a class="code" href="classompl_1_1tools_1_1Benchmark.html">ot::Benchmark</a> *bench)<span class="keyword"> const</span></div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  bench-><a class="code" href="classompl_1_1tools_1_1Benchmark.html#afab48f173edc785ee005301642b1afb1">addExperimentParameter</a>(<span class="stringliteral">"links"</span>, <span class="stringliteral">"INTEGER"</span>, std::to_string(links_));</div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  bench-><a class="code" href="classompl_1_1tools_1_1Benchmark.html#afab48f173edc785ee005301642b1afb1">addExperimentParameter</a>(<span class="stringliteral">"chains"</span>, <span class="stringliteral">"INTEGER"</span>, std::to_string(chains_));</div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  }</div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  </div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span> <span class="keyword">private</span>:</div>
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> links_;</div>
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> chains_;</div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> radius_;</div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> length_;</div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> jointRadius_;</div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span> };</div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  </div>
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span> <span class="keywordtype">bool</span> parallelPlanningOnce(<a class="code" href="classConstrainedProblem.html">ConstrainedProblem</a> &cp, <span class="keyword">enum</span> PLANNER_TYPE planner, <span class="keywordtype">bool</span> output)</div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span> {</div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  cp.setPlanner(planner, <span class="stringliteral">"parallel"</span>);</div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  </div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <span class="comment">// Solve the problem</span></div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  <a class="code" href="structompl_1_1base_1_1PlannerStatus.html">ob::PlannerStatus</a> stat = cp.solveOnce(output, <span class="stringliteral">"parallel"</span>);</div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  </div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <span class="keywordflow">if</span> (output)</div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  {</div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Dumping problem information to `parallel_info.txt`."</span>);</div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  std::ofstream infofile(<span class="stringliteral">"parallel_info.txt"</span>);</div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  infofile << cp.type << std::endl;</div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  <span class="keyword">dynamic_cast<</span>ParallelConstraint *<span class="keyword">></span>(cp.constraint.get())->dump(infofile);</div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  infofile.close();</div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  }</div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  </div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  cp.atlasStats();</div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  </div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="keywordflow">return</span> stat;</div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span> }</div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  </div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span> <span class="keywordtype">bool</span> parallelPlanningBench(<a class="code" href="classConstrainedProblem.html">ConstrainedProblem</a> &cp, std::vector<enum PLANNER_TYPE> &planners)</div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span> {</div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  cp.setupBenchmark(planners, <span class="stringliteral">"parallel"</span>);</div>
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  </div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  <span class="keyword">auto</span> parallel = <span class="keyword">dynamic_cast<</span>ParallelConstraint *<span class="keyword">></span>(cp.constraint.get());</div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  parallel->addBenchmarkParameters(cp.bench);</div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  </div>
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  cp.runBenchmark();</div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  </div>
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span> }</div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  </div>
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span> <span class="keywordtype">bool</span> parallelPlanning(<span class="keywordtype">bool</span> output, <span class="keyword">enum</span> SPACE_TYPE space, std::vector<enum PLANNER_TYPE> &planners, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> links,</div>
<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> chains, <span class="keyword">struct</span> <a class="code" href="structConstrainedOptions.html">ConstrainedOptions</a> &c_opt, <span class="keyword">struct</span> <a class="code" href="structAtlasOptions.html">AtlasOptions</a> &a_opt, <span class="keywordtype">bool</span> bench)</div>
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span> {</div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  <span class="comment">// Create a shared pointer to our constraint.</span></div>
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  <span class="keyword">auto</span> constraint = std::make_shared<ParallelConstraint>(links, chains);</div>
<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  </div>
<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  <a class="code" href="classConstrainedProblem.html">ConstrainedProblem</a> cp(space, constraint->createSpace(), constraint);</div>
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  cp.setConstrainedOptions(c_opt);</div>
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  cp.setAtlasOptions(a_opt);</div>
<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  </div>
<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  cp.css->registerProjection(<span class="stringliteral">"parallel"</span>, constraint->getProjection(cp.css));</div>
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  </div>
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  Eigen::VectorXd start, goal;</div>
<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  constraint->getStart(start);</div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  constraint->getGoal(goal);</div>
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  </div>
<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  cp.setStartAndGoalStates(start, goal);</div>
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  cp.ss->setStateValidityChecker(std::bind(&ParallelConstraint::isValid, constraint, std::placeholders::_1));</div>
<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  </div>
<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  <span class="keywordflow">if</span> (!bench)</div>
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  <span class="keywordflow">return</span> parallelPlanningOnce(cp, planners[0], output);</div>
<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  <span class="keywordflow">return</span> parallelPlanningBench(cp, planners);</div>
<div class="line"><a name="l00433"></a><span class="lineno"> 433</span> }</div>
<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  </div>
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span> <span class="keyword">auto</span> help_msg = <span class="stringliteral">"Shows this help message."</span>;</div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span> <span class="keyword">auto</span> output_msg = <span class="stringliteral">"Dump found solution path (if one exists) in plain text to `parallel_path.txt`. "</span></div>
<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  <span class="stringliteral">"Problem information is dumped to `parallel_info`.txt"</span>;</div>
<div class="line"><a name="l00438"></a><span class="lineno"> 438</span> <span class="keyword">auto</span> links_msg = <span class="stringliteral">"Number of links in each kinematic chain. Minimum is 3. Must be odd."</span>;</div>
<div class="line"><a name="l00439"></a><span class="lineno"> 439</span> <span class="keyword">auto</span> chains_msg = <span class="stringliteral">"Number of chains in parallel mechanism. Minimum is 2."</span>;</div>
<div class="line"><a name="l00440"></a><span class="lineno"> 440</span> <span class="keyword">auto</span> bench_msg = <span class="stringliteral">"Do benchmarking on provided planner list."</span>;</div>
<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  </div>
<div class="line"><a name="l00442"></a><span class="lineno"> 442</span> <span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)</div>
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span> {</div>
<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  <span class="keywordtype">bool</span> output, bench;</div>
<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  <span class="keyword">enum</span> SPACE_TYPE space = PJ;</div>
<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  std::vector<enum PLANNER_TYPE> planners = {RRT};</div>
<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  </div>
<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> links = 3;</div>
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> chains = 4;</div>
<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  </div>
<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  <span class="keyword">struct </span><a class="code" href="structConstrainedOptions.html">ConstrainedOptions</a> c_opt;</div>
<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  <span class="keyword">struct </span><a class="code" href="structAtlasOptions.html">AtlasOptions</a> a_opt;</div>
<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  </div>
<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  po::options_description desc(<span class="stringliteral">"Options"</span>);</div>
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  desc.add_options()(<span class="stringliteral">"help,h"</span>, help_msg);</div>
<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  desc.add_options()(<span class="stringliteral">"output,o"</span>, po::bool_switch(&output)->default_value(<span class="keyword">false</span>), output_msg);</div>
<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  desc.add_options()(<span class="stringliteral">"links,l"</span>, po::value<unsigned int>(&links)->default_value(3), links_msg);</div>
<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  desc.add_options()(<span class="stringliteral">"chains,c"</span>, po::value<unsigned int>(&chains)->default_value(4), chains_msg);</div>
<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  desc.add_options()(<span class="stringliteral">"bench"</span>, po::bool_switch(&bench)->default_value(<span class="keyword">false</span>), bench_msg);</div>
<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  </div>
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  addSpaceOption(desc, &space);</div>
<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  addPlannerOption(desc, &planners);</div>
<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  addConstrainedOptions(desc, &c_opt);</div>
<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  addAtlasOptions(desc, &a_opt);</div>
<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  </div>
<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  po::variables_map vm;</div>
<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  po::store(po::parse_command_line(argc, argv, desc), vm);</div>
<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  po::notify(vm);</div>
<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  </div>
<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  <span class="keywordflow">if</span> (vm.count(<span class="stringliteral">"help"</span>) != 0u)</div>
<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  {</div>
<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  std::cout << desc << std::endl;</div>
<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  <span class="keywordflow">return</span> 1;</div>
<div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  }</div>
<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  </div>
<div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  parallelPlanning(output, space, planners, links, chains, c_opt, a_opt, bench);</div>
<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  </div>
<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00479"></a><span class="lineno"> 479</span> }</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1base_1_1Constraint_html"><div class="ttname"><a href="classompl_1_1base_1_1Constraint.html">ompl::base::Constraint</a></div><div class="ttdoc">Definition of a differentiable holonomic constraint on a configuration space. See Constrained Plannin...</div><div class="ttdef"><b>Definition:</b> <a href="Constraint_8h_source.html#l00107">Constraint.h:107</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="anamespaceompl_1_1base_html"><div class="ttname"><a href="namespaceompl_1_1base.html">ompl::base</a></div><div class="ttdoc">This namespace contains sampling based planning routines shared by both planning under geometric cons...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedSpaceInformation_8h_source.html#l00086">ConstrainedSpaceInformation.h:86</a></div></div>
<div class="ttc" id="aclassConstrainedProblem_html"><div class="ttname"><a href="classConstrainedProblem.html">ConstrainedProblem</a></div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8h_source.html#l00254">ConstrainedPlanningCommon.h:254</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Constraint_html_aaefa1497a68c7944e146ff2811023398"><div class="ttname"><a href="classompl_1_1base_1_1Constraint.html#aaefa1497a68c7944e146ff2811023398">ompl::base::Constraint::Constraint</a></div><div class="ttdeci">Constraint(const unsigned int ambientDim, const unsigned int coDim, double tolerance=magic::CONSTRAINT_PROJECTION_TOLERANCE)</div><div class="ttdoc">Constructor. The dimension of the ambient configuration space as well as the dimension of the functio...</div><div class="ttdef"><b>Definition:</b> <a href="Constraint_8h_source.html#l00119">Constraint.h:119</a></div></div>
<div class="ttc" id="agroup__logging_html_ga04bc36d1b8c57ad7e13a8a48451a3a05"><div class="ttname"><a href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a></div><div class="ttdeci">#define OMPL_INFORM(fmt,...)</div><div class="ttdoc">Log a formatted information string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00068">Console.h:68</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_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_1ConstraintIntersection_html"><div class="ttname"><a href="classompl_1_1base_1_1ConstraintIntersection.html">ompl::base::ConstraintIntersection</a></div><div class="ttdoc">Definition of a constraint composed of multiple constraints that all must be satisfied simultaneously...</div><div class="ttdef"><b>Definition:</b> <a href="Constraint_8h_source.html#l00276">Constraint.h:276</a></div></div>
<div class="ttc" id="astructConstrainedOptions_html"><div class="ttname"><a href="structConstrainedOptions.html">ConstrainedOptions</a></div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8h_source.html#l00177">ConstrainedPlanningCommon.h:177</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_afab48f173edc785ee005301642b1afb1"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#afab48f173edc785ee005301642b1afb1">ompl::tools::Benchmark::addExperimentParameter</a></div><div class="ttdeci">void addExperimentParameter(const std::string &name, const std::string &type, const std::string &value)</div><div class="ttdoc">Add an optional parameter's information to the benchmark output. Useful for aggregating results over ...</div><div class="ttdef"><b>Definition:</b> <a href="Benchmark_8h_source.html#l00314">Benchmark.h:314</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_1ProjectionEvaluator_html"><div class="ttname"><a href="classompl_1_1base_1_1ProjectionEvaluator.html">ompl::base::ProjectionEvaluator</a></div><div class="ttdoc">Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...</div><div class="ttdef"><b>Definition:</b> <a href="ProjectionEvaluator_8h_source.html#l00194">ProjectionEvaluator.h:194</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html">ompl::tools::Benchmark</a></div><div class="ttdoc">Benchmark a set of planners on a problem instance.</div><div class="ttdef"><b>Definition:</b> <a href="Benchmark_8h_source.html#l00112">Benchmark.h:112</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstraintIntersection_html_abcd2f27cffe4da7246b2742a257071d0"><div class="ttname"><a href="classompl_1_1base_1_1ConstraintIntersection.html#abcd2f27cffe4da7246b2742a257071d0">ompl::base::ConstraintIntersection::ConstraintIntersection</a></div><div class="ttdeci">ConstraintIntersection(const unsigned int ambientDim, std::vector< ConstraintPtr > constraints)</div><div class="ttdoc">Constructor. If constraints is empty assume it will be filled later.</div><div class="ttdef"><b>Definition:</b> <a href="Constraint_8h_source.html#l00281">Constraint.h:281</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Constraint_html_a7f15239c4bbc8b1b8a36e7579d47346c"><div class="ttname"><a href="classompl_1_1base_1_1Constraint.html#a7f15239c4bbc8b1b8a36e7579d47346c">ompl::base::Constraint::jacobian</a></div><div class="ttdeci">virtual void jacobian(const State *state, Eigen::Ref< Eigen::MatrixXd > out) const</div><div class="ttdoc">Compute the Jacobian of the constraint function at state. Result is returned in out,...</div><div class="ttdef"><b>Definition:</b> <a href="Constraint_8cpp_source.html#l00045">Constraint.cpp:45</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Constraint_html_ac22291e02a0e3f2063f0a92eac0b70e7"><div class="ttname"><a href="classompl_1_1base_1_1Constraint.html#ac22291e02a0e3f2063f0a92eac0b70e7">ompl::base::Constraint::setManifoldDimension</a></div><div class="ttdeci">void setManifoldDimension(unsigned int k)</div><div class="ttdoc">Sets the underlying manifold dimension.</div><div class="ttdef"><b>Definition:</b> <a href="Constraint_8h_source.html#l00211">Constraint.h:211</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="astructAtlasOptions_html"><div class="ttname"><a href="structAtlasOptions.html">AtlasOptions</a></div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8h_source.html#l00211">ConstrainedPlanningCommon.h:211</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1RealVectorBounds_html"><div class="ttname"><a href="classompl_1_1base_1_1RealVectorBounds.html">ompl::base::RealVectorBounds</a></div><div class="ttdoc">The lower and upper bounds for an Rn space.</div><div class="ttdef"><b>Definition:</b> <a href="RealVectorBounds_8h_source.html#l00111">RealVectorBounds.h:111</a></div></div>
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