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XRN_X_SE2.cpp
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36
37/* Author: Andreas Orthey */
38
39#include <ompl/multilevel/datastructures/projections/XRN_X_SE2.h>
40#include <ompl/base/spaces/SE2StateSpace.h>
41#include <ompl/base/spaces/RealVectorStateSpace.h>
42
43#include <ompl/util/Exception.h>
44
45using namespace ompl::multilevel;
46
47Projection_SE2RN_SE2::Projection_SE2RN_SE2(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
48 : BaseT(BundleSpace, BaseSpace)
49{
50 setType(PROJECTION_SE2RN_SE2);
51}
52
53void Projection_SE2RN_SE2::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
54{
55 const auto *xBundle_SE2 = xBundle->as<base::CompoundState>()->as<base::SE2StateSpace::StateType>(0);
56 auto *xBase_SE2 = xBase->as<base::SE2StateSpace::StateType>();
57 xBase_SE2->setX(xBundle_SE2->getX());
58 xBase_SE2->setY(xBundle_SE2->getY());
59 xBase_SE2->setYaw(xBundle_SE2->getYaw());
60}
61
62void Projection_SE2RN_SE2::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
63 ompl::base::State *xBundle) const
64{
65 auto *xBundle_SE2 = xBundle->as<base::CompoundState>()->as<base::SE2StateSpace::StateType>(0);
66 auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
67
68 const auto *xBase_SE2 = xBase->as<base::SE2StateSpace::StateType>();
69 const auto *xFiber_RN = xFiber->as<base::RealVectorStateSpace::StateType>();
70
71 xBundle_SE2->setX(xBase_SE2->getX());
72 xBundle_SE2->setY(xBase_SE2->getY());
73 xBundle_SE2->setYaw(xBase_SE2->getYaw());
74
75 for (unsigned int k = 0; k < getFiberDimension(); k++)
76 {
77 xBundle_RN->values[k] = xFiber_RN->values[k];
78 }
79}
ompl::base::State StateType
Define the type of state allocated by this space.
Definition StateSpace.h:78
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_SE2RN_SE2
SE2RN \rightarrow SE2.