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SE3RN_R3.cpp
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36
37/* Author: Andreas Orthey */
38
39#include <ompl/multilevel/datastructures/projections/SE3RN_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_SE3RN_R3::Projection_SE3RN_R3(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
47 : BaseT(BundleSpace, BaseSpace)
48{
49 setType(PROJECTION_SE3RN_R3);
50}
51
52void Projection_SE3RN_R3::projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const
53{
54 const auto *xBundle_SE3 = xBundle->as<base::CompoundState>()->as<base::SE3StateSpace::StateType>(0);
55 const auto *xBundle_SO3 = &xBundle_SE3->rotation();
56 const auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
57
58 auto *xFiber_SO3 = xFiber->as<base::CompoundState>()->as<base::SO3StateSpace::StateType>(0);
59 auto *xFiber_RN = xFiber->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
60
61 xFiber_SO3->x = xBundle_SO3->x;
62 xFiber_SO3->y = xBundle_SO3->y;
63 xFiber_SO3->z = xBundle_SO3->z;
64 xFiber_SO3->w = xBundle_SO3->w;
65
66 for (unsigned int k = 0; k < getFiberDimension() - 3; k++)
67 {
68 xFiber_RN->values[k] = xBundle_RN->values[k];
69 }
70}
71
72void Projection_SE3RN_R3::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
73{
74 const auto *xBundle_SE3 = xBundle->as<base::CompoundState>()->as<base::SE3StateSpace::StateType>(0);
75 auto *xBase_R3 = xBase->as<base::RealVectorStateSpace::StateType>();
76
77 xBase_R3->values[0] = xBundle_SE3->getX();
78 xBase_R3->values[1] = xBundle_SE3->getY();
79 xBase_R3->values[2] = xBundle_SE3->getZ();
80}
81
82void Projection_SE3RN_R3::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
83 ompl::base::State *xBundle) const
84{
85 auto *xBundle_SE3 = xBundle->as<base::CompoundState>()->as<base::SE3StateSpace::StateType>(0);
86 auto *xBundle_SO3 = &xBundle_SE3->rotation();
87 auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
88
89 const auto *xBase_R3 = xBase->as<base::RealVectorStateSpace::StateType>();
90 const auto *xFiber_SO3 = xFiber->as<base::CompoundState>()->as<base::SO3StateSpace::StateType>(0);
91 const auto *xFiber_RN = xFiber->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
92
93 xBundle_SE3->setXYZ(xBase_R3->values[0], xBase_R3->values[1], xBase_R3->values[2]);
94 xBundle_SO3->x = xFiber_SO3->x;
95 xBundle_SO3->y = xFiber_SO3->y;
96 xBundle_SO3->z = xFiber_SO3->z;
97 xBundle_SO3->w = xFiber_SO3->w;
98
99 for (unsigned int k = 0; k < getFiberDimension() - 3; k++)
100 {
101 xBundle_RN->values[k] = xFiber_RN->values[k];
102 }
103}
104
105ompl::base::StateSpacePtr Projection_SE3RN_R3::computeFiberSpace()
106{
107 base::CompoundStateSpace *Bundle_compound = getBundle()->as<base::CompoundStateSpace>();
108 const std::vector<base::StateSpacePtr> Bundle_decomposed = Bundle_compound->getSubspaces();
109 const std::vector<base::StateSpacePtr> Bundle_SE3_decomposed =
110 Bundle_decomposed.at(0)->as<base::CompoundStateSpace>()->getSubspaces();
111
112 const auto *Bundle_RN = Bundle_decomposed.at(1)->as<base::RealVectorStateSpace>();
113 unsigned int N = Bundle_RN->getDimension();
114
115 base::StateSpacePtr SO3(new base::SO3StateSpace());
116 base::StateSpacePtr RN(new base::RealVectorStateSpace(N));
117 RN->as<base::RealVectorStateSpace>()->setBounds(Bundle_RN->getBounds());
118
119 return SO3 + RN;
120}
const std::vector< StateSpacePtr > & getSubspaces() const
Get the list of components.
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
unsigned int getFiberDimension() const
Dimension of Fiber Space.
This namespace contains datastructures and planners to exploit multilevel abstractions,...
@ PROJECTION_SE3RN_R3
SE3RN \rightarrow R3.