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SE3_R3.cpp
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36
37/* Author: Andreas Orthey */
38
39#include <ompl/multilevel/datastructures/projections/SE3_R3.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_SE3_R3::Projection_SE3_R3(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
47 : BaseT(BundleSpace, BaseSpace)
48{
49 setType(PROJECTION_SE3_R3);
50}
51
52void Projection_SE3_R3::projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const
53{
54 const auto *xBundle_SE3 = xBundle->as<base::SE3StateSpace::StateType>();
55 const auto *xBundle_SO3 = &xBundle_SE3->rotation();
56 auto *xFiber_SO3 = xFiber->as<base::SO3StateSpace::StateType>();
57
58 xFiber_SO3->x = xBundle_SO3->x;
59 xFiber_SO3->y = xBundle_SO3->y;
60 xFiber_SO3->z = xBundle_SO3->z;
61 xFiber_SO3->w = xBundle_SO3->w;
62}
63
64void Projection_SE3_R3::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
65{
66 const auto *xBundle_SE3 = xBundle->as<base::SE3StateSpace::StateType>();
67 auto *xBase_R3 = xBase->as<base::RealVectorStateSpace::StateType>();
68 xBase_R3->values[0] = xBundle_SE3->getX();
69 xBase_R3->values[1] = xBundle_SE3->getY();
70 xBase_R3->values[2] = xBundle_SE3->getZ();
71}
72
73void Projection_SE3_R3::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
74 ompl::base::State *xBundle) const
75{
76 auto *xBundle_SE3 = xBundle->as<base::SE3StateSpace::StateType>();
77 auto *xBundle_SO3 = &xBundle_SE3->rotation();
78
79 const auto *xBase_R3 = xBase->as<base::RealVectorStateSpace::StateType>();
80 const auto *xFiber_SO3 = xFiber->as<base::SO3StateSpace::StateType>();
81
82 xBundle_SE3->setXYZ(xBase_R3->values[0], xBase_R3->values[1], xBase_R3->values[2]);
83
84 xBundle_SO3->x = xFiber_SO3->x;
85 xBundle_SO3->y = xFiber_SO3->y;
86 xBundle_SO3->z = xFiber_SO3->z;
87 xBundle_SO3->w = xFiber_SO3->w;
88}
89
90ompl::base::StateSpacePtr Projection_SE3_R3::computeFiberSpace()
91{
92 unsigned int N = getDimension();
93 unsigned int Y = getBaseDimension();
94 if (N != 6 && Y != 3)
95 {
96 OMPL_ERROR("Assumed input is SE(3) -> R3, but got %d -> %d dimensions.", N, Y);
97 throw "Invalid Dimensionality";
98 }
99 return std::make_shared<base::SO3StateSpace>();
100}
double getZ() const
Get the Z component of the state.
double getY() const
Get the Y component of the state.
double getX() const
Get the X component of the state.
const SO3StateSpace::StateType & rotation() const
Get the rotation component of the state.
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
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition Console.h:64
This namespace contains datastructures and planners to exploit multilevel abstractions,...
@ PROJECTION_SE3_R3
SE3 \rightarrow R3.