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RNSO2_RN.cpp
45Projection_RNSO2_RN::Projection_RNSO2_RN(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
51void Projection_RNSO2_RN::projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const
53 const auto *xBundle_SO2 = xBundle->as<base::CompoundState>()->as<base::SO2StateSpace::StateType>(1);
60void Projection_RNSO2_RN::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
62 const auto *xBundle_R3 = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(0);
74 auto *xBundle_R3 = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(0);
The definition of a state in Rn
Definition RealVectorStateSpace.h:78
A shared pointer wrapper for ompl::base::StateSpace.
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Definition MultiLevelPlanarManipulatorDemo.cpp:68