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FiberedProjection.h
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36
37/* Author: Andreas Orthey */
38
39#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_
40#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_
41#include <ompl/base/State.h>
42#include <ompl/base/StateSpaceTypes.h>
43#include <ompl/multilevel/datastructures/ProjectionTypes.h>
44#include <ompl/multilevel/datastructures/Projection.h>
45
46namespace ompl
47{
48 namespace base
49 {
51
52 OMPL_CLASS_FORWARD(SpaceInformation);
54 OMPL_CLASS_FORWARD(StateSpace);
56 }
57 namespace multilevel
58 {
59 /* \brief A bundle projection with an explicit fiber space representation
60 * which can be explicitly sampled to lift states */
61 class FiberedProjection : public Projection
62 {
63 public:
64 FiberedProjection(base::StateSpacePtr bundleSpace, base::StateSpacePtr baseSpace);
65
66 virtual ~FiberedProjection() = default;
67
68 virtual void lift(const ompl::base::State *xBase, ompl::base::State *xBundle) const override;
69
70 /* \brief Lift base space element using a fiber bundle element */
71 virtual void lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
72 ompl::base::State *xBundle) const = 0;
73
74 /* \brief Project bundle space onto fiber space */
75 virtual void projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const = 0;
76
77 /* \brief Get explicit fiber space representation */
78 virtual ompl::base::StateSpacePtr getFiberSpace() const;
79
80 /* \brief Get explicit fiber space sampler */
81 ompl::base::StateSamplerPtr getFiberSamplerPtr() const;
82
84 unsigned int getFiberDimension() const;
85 std::string getFiberTypeAsString() const;
86
87 bool isFibered() const override;
88
89 /* \brief Create explicit fiber space representation */
90 void makeFiberSpace();
91
92 protected:
93 virtual ompl::base::StateSpacePtr computeFiberSpace() = 0;
94
95 base::StateSpacePtr fiberSpace_{nullptr};
96
97 base::SpaceInformationPtr siFiberSpace_{nullptr};
98
99 base::StateSamplerPtr fiberSpaceSampler_;
100
101 // \brief A temporary state on Fiber space
102 ompl::base::State *xFiberTmp_{nullptr};
103 };
104 }
105}
106
107#endif
The base class for space information. This contains all the information about the space planning is d...
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition StateSpace.h:71
Definition of an abstract state.
Definition State.h:50
unsigned int getFiberDimension() const
Dimension of Fiber Space.
This namespace contains sampling based planning routines shared by both planning under geometric cons...
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Main namespace. Contains everything in this library.