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XRN_XRM_SO2.cpp
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36
37/* Author: Andreas Orthey */
38
39#include <ompl/multilevel/datastructures/projections/XRN_XRM_SO2.h>
40#include <ompl/base/spaces/SO2StateSpace.h>
41#include <ompl/base/spaces/RealVectorStateSpace.h>
42
43#include <ompl/util/Exception.h>
44
45using namespace ompl::multilevel;
46
47Projection_SO2RN_SO2RM::Projection_SO2RN_SO2RM(ompl::base::StateSpacePtr BundleSpace,
49 : BaseT(BundleSpace, BaseSpace)
50{
52}
53
54void Projection_SO2RN_SO2RM::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
55{
56 const auto *xBundle_SO2 = xBundle->as<base::CompoundState>()->as<base::SO2StateSpace::StateType>(0);
57 const auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
58
59 auto *xBase_SO2 = xBase->as<base::CompoundState>()->as<base::SO2StateSpace::StateType>(0);
60 auto *xBase_RM = xBase->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
61
62 xBase_SO2->value = xBundle_SO2->value;
63
64 for (unsigned int k = 0; k < getBaseDimension() - 1; k++)
65 {
66 xBase_RM->values[k] = xBundle_RN->values[k];
67 }
68}
69
70void Projection_SO2RN_SO2RM::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
71 ompl::base::State *xBundle) const
72{
73 auto *xBundle_SO2 = xBundle->as<base::CompoundState>()->as<base::SO2StateSpace::StateType>(0);
74 auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
75
76 const auto *xBase_SO2 = xBase->as<base::CompoundState>()->as<base::SO2StateSpace::StateType>(0);
77 const auto *xBase_RM = xBase->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
78
79 const auto *xFiber_RJ = xFiber->as<base::RealVectorStateSpace::StateType>();
80
81 xBundle_SO2->value = xBase_SO2->value;
82
83 unsigned int M = getDimension() - getFiberDimension() - 1;
84 unsigned int N = getFiberDimension();
85
86 for (unsigned int k = 0; k < M; k++)
87 {
88 xBundle_RN->values[k] = xBase_RM->values[k];
89 }
90 for (unsigned int k = M; k < M + N; k++)
91 {
92 xBundle_RN->values[k] = xFiber_RJ->values[k - M];
93 }
94}
Definition of a compound state.
Definition State.h:87
A shared pointer wrapper for ompl::base::StateSpace.
Definition of an abstract state.
Definition State.h:50
const T * as() const
Cast this instance to a desired type.
Definition State.h:66
A single Bundle-space.
Definition BundleSpace.h:64
unsigned int getFiberDimension() const
Dimension of Fiber Space.
This namespace contains datastructures and planners to exploit multilevel abstractions,...
@ PROJECTION_SO2RN_SO2RM
SO2RN \rightarrow SO2RM, m < n.