/usr/include/ompl/util/GeometricEquations.h is in libompl-dev 1.2.1+ds1-1build1.
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/* Author: Jonathan Gammell */
#ifndef OMPL_UTIL_GEOMETRIC_EQUATIONS
#define OMPL_UTIL_GEOMETRIC_EQUATIONS
namespace ompl
{
/* A collection of general geometric equations. */
/** \brief The Lebesgue measure (i.e., "volume") of an n-dimensional ball of given radius. */
double nBallMeasure(unsigned int N, double r);
/** \brief The Lebesgue measure (i.e., "volume") of an n-dimensional ball with a unit radius. */
double unitNBallMeasure(unsigned int N);
/** \brief The Lebesgue measure (i.e., "volume") of an n-dimensional prolate hyperspheroid (a symmetric hyperellipse) given as the distance between the foci and the transverse diameter */
double prolateHyperspheroidMeasure(unsigned int N, double dFoci, double dTransverse);
} //ompl
#endif
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