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BundleSpacePropagator.h
1#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PROPAGATORS_
2#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_PROPAGATORS_
3#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
4
5namespace ompl
6{
7 namespace multilevel
8 {
10
11 OMPL_CLASS_FORWARD(BundleSpaceGraph);
13
14 class BundleSpacePropagator
15 {
16 public:
17 using Configuration = BundleSpaceGraph::Configuration;
18 BundleSpacePropagator() = delete;
19 BundleSpacePropagator(BundleSpaceGraph *);
20
21 virtual ~BundleSpacePropagator();
22
23 virtual bool steer(const Configuration *from, const Configuration *to, Configuration *result) = 0;
24
25 protected:
26 BundleSpaceGraph *bundleSpaceGraph_;
27 };
28 }
29}
30
31#endif
A graph on a Bundle-space.
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Main namespace. Contains everything in this library.