RNSO2_RN.cpp

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/* Author: Andreas Orthey */
 
#include <ompl/multilevel/datastructures/projections/RNSO2_RN.h>
#include <ompl/base/spaces/SO2StateSpace.h>
#include <ompl/base/spaces/RealVectorStateSpace.h>
 
using namespace ompl::multilevel;
 
Projection_RNSO2_RN::Projection_RNSO2_RN(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
  : BaseT(BundleSpace, BaseSpace)
{
    setType(PROJECTION_RNSO2_RN);
}
 
void Projection_RNSO2_RN::projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const
{
    const auto *xBundle_SO2 = xBundle->as<base::CompoundState>()->as<base::SO2StateSpace::StateType>(1);
 
    auto *xFiber_SO2 = xFiber->as<base::SO2StateSpace::StateType>();
 
    xFiber_SO2->value = xBundle_SO2->value;
}
 
void Projection_RNSO2_RN::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
{
    const auto *xBundle_R3 = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(0);
    auto *xBase_R3 = xBase->as<base::RealVectorStateSpace::StateType>();
 
    for (unsigned int k = 0; k < 3; k++)
    {
        xBase_R3->values[k] = xBundle_R3->values[k];
    }
}
 
void Projection_RNSO2_RN::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
                               ompl::base::State *xBundle) const
{
    auto *xBundle_R3 = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(0);
    auto *xBundle_SO2 = xBundle->as<base::CompoundState>()->as<base::SO2StateSpace::StateType>(1);
 
    const auto *xFiber_SO2 = xFiber->as<base::SO2StateSpace::StateType>();
 
    const auto *xBase_R3 = xBase->as<base::RealVectorStateSpace::StateType>();
 
    for (unsigned int k = 0; k < 3; k++)
    {
        xBundle_R3->values[k] = xBase_R3->values[k];
    }
    xBundle_SO2->value = xFiber_SO2->value;
}
 
ompl::base::StateSpacePtr Projection_RNSO2_RN::computeFiberSpace()
{
    unsigned int N = getDimension();
    unsigned int Y = getBaseDimension();
    if (Y != (N - 1))
    {
        OMPL_ERROR("Assumed input is SO(2)xRN -> RN, but got %d -> %d dimensions.", N, Y);
        throw "Invalid Dimensionality";
    }
    return std::make_shared<base::SO2StateSpace>();
}