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XRN_X_SO2.cpp
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36
37/* Author: Andreas Orthey */
38
39#include <ompl/multilevel/datastructures/projections/XRN_X_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_SO2::Projection_SO2RN_SO2(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
48 : BaseT(BundleSpace, BaseSpace)
49{
50 setType(PROJECTION_SO2RN_SO2);
51}
52
53void Projection_SO2RN_SO2::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
54{
55 const auto *xBundle_SO2 = xBundle->as<base::CompoundState>()->as<base::SO2StateSpace::StateType>(0);
56 auto *xBase_SO2 = xBase->as<base::SO2StateSpace::StateType>();
57
58 xBase_SO2->value = xBundle_SO2->value;
59}
60
61void Projection_SO2RN_SO2::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
62 ompl::base::State *xBundle) const
63{
64 auto *xBundle_SO2 = xBundle->as<base::CompoundState>()->as<base::SO2StateSpace::StateType>(0);
65 auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
66
67 const auto *xBase_SO2 = xBase->as<base::SO2StateSpace::StateType>();
68 const auto *xFiber_RN = xFiber->as<base::RealVectorStateSpace::StateType>();
69
70 xBundle_SO2->value = xBase_SO2->value;
71
72 for (unsigned int k = 0; k < getFiberDimension(); k++)
73 {
74 xBundle_RN->values[k] = xFiber_RN->values[k];
75 }
76}
Definition of a compound state.
Definition State.h:87
double * values
The value of the actual vector in Rn
The definition of a state in SO(2)
double value
The value of the angle in the interval (-Pi, Pi].
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_SO2
SO2RN \rightarrow SO2.