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RN_RM.h
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36
37/* Author: Andreas Orthey */
38
39#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_RN_RM__
40#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_RN_RM__
41#include <ompl/multilevel/datastructures/projections/FiberedProjection.h>
42
43namespace ompl
44{
45 namespace multilevel
46 {
47 class Projection_RN_RM : public FiberedProjection
48 {
49 using BaseT = FiberedProjection;
50
51 public:
52 Projection_RN_RM(base::StateSpacePtr BundleSpace, base::StateSpacePtr BaseSpace);
53
54 ~Projection_RN_RM() override = default;
55
56 virtual void projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const override;
57
58 virtual void project(const ompl::base::State *xBundle, ompl::base::State *xBase) const override;
59
60 virtual void lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
61 ompl::base::State *xBundle) const override;
62
63 protected:
64 ompl::base::StateSpacePtr computeFiberSpace() override;
65 };
66 }
67}
68
69#endif
Definition of an abstract state.
Definition State.h:50
A single Bundle-space.
Definition BundleSpace.h:64
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Main namespace. Contains everything in this library.