.. _program_listing_file_src_ompl_util_ProlateHyperspheroid.h:

Program Listing for File ProlateHyperspheroid.h
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_util_ProlateHyperspheroid.h>` (``src/ompl/util/ProlateHyperspheroid.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Jonathan Gammell */
   
   #ifndef OMPL_UTIL_PROLATE_HYPERSPHEROID_
   #define OMPL_UTIL_PROLATE_HYPERSPHEROID_
   
   #include <memory>
   
   // For ease-of-use shared_ptr definition
   #include <ompl/util/ClassForward.h>
   
   namespace ompl
   {
       // A forward declaration of the prolate hyperspheroid class
       OMPL_CLASS_FORWARD(ProlateHyperspheroid);
   
       class ProlateHyperspheroid
       {
       public:
           ProlateHyperspheroid(unsigned int n, const double focus1[], const double focus2[]);
   
           void setTransverseDiameter(double transverseDiameter);
   
           void transform(const double sphere[], double phs[]) const;
   
           bool isInPhs(const double point[]) const;
   
           bool isOnPhs(const double point[]) const;
   
           unsigned int getPhsDimension() const;
   
           double getPhsMeasure() const;
   
           double getPhsMeasure(double tranDiam) const;
   
           double getMinTransverseDiameter() const;
   
           double getPathLength(const double point[]) const;
   
           unsigned int getDimension() const;
   
       protected:
       private:
           struct PhsData;
   
           std::shared_ptr<PhsData> dataPtr_;
   
           // Functions
           void updateRotation();
   
           void updateTransformation();
       };
   }
   
   #endif