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 
46 namespace 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
Definition of an abstract state.
Definition: State.h:113
A shared pointer wrapper for ompl::base::StateSpace.
A shared pointer wrapper for ompl::base::StateSampler.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
unsigned int getFiberDimension() const
Dimension of Fiber Space.