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<div class="title">BundleSpaceMetric.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) 2020,</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Max Planck Institute for Intelligent Systems (MPI-IS).</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * * Neither the name of the MPI-IS nor the names</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * derived from this software without specific prior written</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * permission.</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</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="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> *********************************************************************/</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="comment">/* Author: Andreas Orthey */</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 <ompl/multilevel/datastructures/metrics/BundleSpaceMetric.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> ompl::multilevel::BundleSpaceMetric::BundleSpaceMetric(BundleSpaceGraph *bundleSpaceGraph)</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  : bundleSpaceGraph_(bundleSpaceGraph)</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> {</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordflow">if</span> (bundleSpaceGraph_->getBaseDimension() > 0)</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>  xBaseStartTmp_ = bundleSpaceGraph_->getBase()->allocState();</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  xBaseDestTmp_ = bundleSpaceGraph_->getBase()->allocState();</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  }</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> }</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> ompl::multilevel::BundleSpaceMetric::~BundleSpaceMetric()</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="keywordflow">if</span> (bundleSpaceGraph_->getBaseDimension() > 0)</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>  bundleSpaceGraph_->getBase()->freeState(xBaseStartTmp_);</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  bundleSpaceGraph_->getBase()->freeState(xBaseDestTmp_);</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  }</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> }</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> ompl::multilevel::BundleSpaceMetric::clear()</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> {</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="keywordtype">void</span> ompl::multilevel::BundleSpaceMetric::interpolateBundle(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *q_from, <span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *q_to,</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *q_interp)</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>  interpolateBundle(q_from, q_to, 1.0, q_interp);</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> }</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">void</span> ompl::multilevel::BundleSpaceMetric::interpolateBundle(<span class="keyword">const</span> <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *q_from, <a class="code" href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">Configuration</a> *q_to)</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> {</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  interpolateBundle(q_from, q_to, q_to);</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> }</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration_html"><div class="ttname"><a href="classompl_1_1multilevel_1_1BundleSpaceGraph_1_1Configuration.html">ompl::multilevel::BundleSpaceGraph::Configuration</a></div><div class="ttdoc">A configuration in Bundle-space.</div><div class="ttdef"><b>Definition:</b> <a href="BundleSpaceGraph_8h_source.html#l00128">BundleSpaceGraph.h:128</a></div></div>
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