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ProjectionFactory.h
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36
37/* Author: Andreas Orthey */
38
39#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_SUBSPACE_FACTORY__
40#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_SUBSPACE_FACTORY__
41#include <ompl/multilevel/datastructures/ProjectionTypes.h>
42#include <ompl/base/State.h>
43#include <ompl/base/StateSpace.h>
44#include <ompl/base/SpaceInformation.h>
45
46namespace ompl
47{
48 namespace multilevel
49 {
51
52 OMPL_CLASS_FORWARD(Projection);
54 }
55 namespace multilevel
56 {
57 /* \brief If no projection operator is provided, you can invoke this
58 * projection component factory, which tries to guess the projection
59 * mapping. For example, if you specify SE3 and R3 as bundle and base,
60 * this factory would return the projection onto the R3 subspace in SE3. */
61 class ProjectionFactory
62 {
63 public:
64 ProjectionFactory() = default;
65
67 // std::vector<ProjectionPtr> MakeProjections(const base::SpaceInformationPtr &Bundle,
68 // const base::SpaceInformationPtr &Base);
69
70 // std::vector<ProjectionPtr> MakeProjections(const base::SpaceInformationPtr &Bundle);
71
72 ProjectionPtr makeProjection(const base::SpaceInformationPtr &Bundle,
73 const base::SpaceInformationPtr &Base);
74
75 ProjectionPtr makeProjection(const base::SpaceInformationPtr &Bundle);
76
77 // ProjectionPtr MakeProjections(const base::SpaceInformationPtr &Bundle);
78
79 protected:
80 ProjectionPtr makeProjection(const base::StateSpacePtr &BundleSpace, const base::StateSpacePtr &BaseSpace,
81 bool areValidityCheckersEquivalent);
82
83 ProjectionPtr makeProjection(const base::StateSpacePtr &BundleSpace);
84
87 ProjectionType identifyProjectionType(const base::StateSpacePtr &BundleSpace,
88 const base::StateSpacePtr &BaseSpace);
89
91 bool isMapping_Identity(const base::StateSpacePtr &, const base::StateSpacePtr &);
93 bool isMapping_EmptyProjection(const base::StateSpacePtr &, const base::StateSpacePtr &);
96 bool isMapping_RN_to_RM(const base::StateSpacePtr &, const base::StateSpacePtr &);
99 bool isMapping_SE2_to_R2(const base::StateSpacePtr &, const base::StateSpacePtr &);
102 bool isMapping_SE2RN_to_R2(const base::StateSpacePtr &, const base::StateSpacePtr &);
105 bool isMapping_SE2RN_to_SE2(const base::StateSpacePtr &, const base::StateSpacePtr &);
108 bool isMapping_SE2RN_to_SE2RM(const base::StateSpacePtr &, const base::StateSpacePtr &);
111 bool isMapping_SE3_to_R3(const base::StateSpacePtr &, const base::StateSpacePtr &);
114 bool isMapping_SE3RN_to_R3(const base::StateSpacePtr &, const base::StateSpacePtr &);
117 bool isMapping_SE3RN_to_SE3(const base::StateSpacePtr &, const base::StateSpacePtr &);
120 bool isMapping_SE3RN_to_SE3RM(const base::StateSpacePtr &, const base::StateSpacePtr &);
123 bool isMapping_SO2RN_to_SO2(const base::StateSpacePtr &, const base::StateSpacePtr &);
126 bool isMapping_SO2RN_to_SO2RM(const base::StateSpacePtr &, const base::StateSpacePtr &);
129 bool isMapping_SO2N_to_SO2M(const base::StateSpacePtr &, const base::StateSpacePtr &);
132 bool isMapping_SO3RN_to_SO3(const base::StateSpacePtr &, const base::StateSpacePtr &);
135 bool isMapping_SO3RN_to_SO3RM(const base::StateSpacePtr &, const base::StateSpacePtr &);
138 bool isMapping_RNSO2_to_RN(const base::StateSpacePtr &, const base::StateSpacePtr &);
139
143 bool isMapping_XRN_to_XRM(const base::StateSpacePtr &, const base::StateSpacePtr &,
145
149 bool isMapping_XRN_to_X(const base::StateSpacePtr &, const base::StateSpacePtr &,
151
153 int GetNumberOfComponents(const base::StateSpacePtr &space);
154 };
155 }
156}
157#endif
A single Bundle-space.
Definition BundleSpace.h:64
bool isMapping_SE2_to_R2(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
bool isMapping_SO3RN_to_SO3RM(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
bool isMapping_SE3RN_to_SE3RM(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
bool isMapping_SE3_to_R3(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
bool isMapping_SO2RN_to_SO2RM(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
bool isMapping_EmptyProjection(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if the mapping is an empty projection.
bool isMapping_SE2RN_to_SE2(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
int GetNumberOfComponents(const base::StateSpacePtr &space)
Estimate number of components on state space.
bool isMapping_SE2RN_to_SE2RM(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
bool isMapping_SO2RN_to_SO2(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
ProjectionType identifyProjectionType(const base::StateSpacePtr &BundleSpace, const base::StateSpacePtr &BaseSpace)
Guess the projection type from the list of projections in ompl::multilevel::ProjectionTypes.
bool isMapping_RNSO2_to_RN(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
bool isMapping_XRN_to_X(const base::StateSpacePtr &, const base::StateSpacePtr &, const base::StateSpaceType)
Check if mapping is to whereby .
bool isMapping_Identity(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if the mapping is an identity mapping.
bool isMapping_SO3RN_to_SO3(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
bool isMapping_RN_to_RM(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
bool isMapping_XRN_to_XRM(const base::StateSpacePtr &, const base::StateSpacePtr &, const base::StateSpaceType)
Check if mapping is to whereby .
bool isMapping_SE3RN_to_R3(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
ProjectionPtr makeProjection(const base::SpaceInformationPtr &Bundle, const base::SpaceInformationPtr &Base)
Guess projection(s) between two SpaceInformationPtr Bundle and Base.
bool isMapping_SE3RN_to_SE3(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
bool isMapping_SO2N_to_SO2M(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
bool isMapping_SE2RN_to_R2(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
StateSpaceType
The type of a state space.
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Main namespace. Contains everything in this library.