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XRN_XRM_SE3.cpp
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36
37/* Author: Andreas Orthey */
38
39#include <ompl/multilevel/datastructures/projections/XRN_XRM_SE3.h>
40#include <ompl/base/spaces/SE3StateSpace.h>
41#include <ompl/base/spaces/SO3StateSpace.h>
42#include <ompl/base/spaces/RealVectorStateSpace.h>
43
44using namespace ompl::multilevel;
45
46Projection_SE3RN_SE3RM::Projection_SE3RN_SE3RM(ompl::base::StateSpacePtr BundleSpace,
47 ompl::base::StateSpacePtr BaseSpace)
48 : BaseT(BundleSpace, BaseSpace)
49{
51}
52
53void Projection_SE3RN_SE3RM::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
54{
55 const auto *xBundle_SE3 = xBundle->as<base::CompoundState>()->as<base::SE3StateSpace::StateType>(0);
56 const auto *xBundle_SO3 = &xBundle_SE3->rotation();
57 const auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
58
59 auto *xBase_SE3 = xBase->as<base::CompoundState>()->as<base::SE3StateSpace::StateType>(0);
60 auto *xBase_SO3 = &xBase_SE3->rotation();
61 auto *xBase_RM = xBase->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
62
63 xBase_SE3->setXYZ(xBundle_SE3->getX(), xBundle_SE3->getY(), xBundle_SE3->getZ());
64 xBase_SO3->x = xBundle_SO3->x;
65 xBase_SO3->y = xBundle_SO3->y;
66 xBase_SO3->z = xBundle_SO3->z;
67 xBase_SO3->w = xBundle_SO3->w;
68
69 for (unsigned int k = 0; k < getBaseDimension() - 6; k++)
70 {
71 xBase_RM->values[k] = xBundle_RN->values[k];
72 }
73}
74
75void Projection_SE3RN_SE3RM::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
76 ompl::base::State *xBundle) const
77{
78 auto *xBundle_SE3 = xBundle->as<base::CompoundState>()->as<base::SE3StateSpace::StateType>(0);
79 auto *xBundle_SO3 = &xBundle_SE3->rotation();
80 auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
81
82 const auto *xBase_SE3 = xBase->as<base::CompoundState>()->as<base::SE3StateSpace::StateType>(0);
83 const auto *xBase_SO3 = &xBase_SE3->rotation();
84 const auto *xBase_RM = xBase->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
85
86 const auto *xFiber_RJ = xFiber->as<base::RealVectorStateSpace::StateType>();
87
88 xBundle_SE3->setXYZ(xBase_SE3->getX(), xBase_SE3->getY(), xBase_SE3->getZ());
89 xBundle_SO3->x = xBase_SO3->x;
90 xBundle_SO3->y = xBase_SO3->y;
91 xBundle_SO3->z = xBase_SO3->z;
92 xBundle_SO3->w = xBase_SO3->w;
93
94 //[X Y Z YAW PITCH ROLL] [1...M-1][M...N-1]
95 // SE3 RN
96 unsigned int M = getDimension() - getFiberDimension() - 6;
97 unsigned int N = getFiberDimension();
98
99 for (unsigned int k = 0; k < M; k++)
100 {
101 xBundle_RN->values[k] = xBase_RM->values[k];
102 }
103 for (unsigned int k = M; k < M + N; k++)
104 {
105 xBundle_RN->values[k] = xFiber_RJ->values[k - M];
106 }
107}
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_SE3RN_SE3RM
SE3RN \rightarrow SE3RM, m < n.