None.cpp

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/* Author: Andreas Orthey */
 
#include <ompl/multilevel/datastructures/projections/None.h>
 
using namespace ompl::multilevel;
 
Projection_None::Projection_None(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
  : BaseT(BundleSpace, BaseSpace)
{
    setType(PROJECTION_NONE);
}
 
void Projection_None::projectFiber(const ompl::base::State *, ompl::base::State *) const
{
    OMPL_WARN("Trying to project to fiber with non-projectable Bundle Space.");
}
 
void Projection_None::project(const ompl::base::State *, ompl::base::State *) const
{
    OMPL_WARN("Trying to project to base with non-projectable Bundle Space.");
}
 
void Projection_None::lift(const ompl::base::State *, const ompl::base::State *, ompl::base::State *) const
{
    OMPL_WARN("Trying to lift States with non-projectable Bundle Space.");
}
 
ompl::base::StateSpacePtr Projection_None::computeFiberSpace()
{
    return nullptr;
}