RNSO2_RN.cpp
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36 
37 /* Author: Andreas Orthey */
38 
39 #include <ompl/multilevel/datastructures/projections/RNSO2_RN.h>
40 #include <ompl/base/spaces/SO2StateSpace.h>
41 #include <ompl/base/spaces/RealVectorStateSpace.h>
42 
43 using namespace ompl::multilevel;
44 
45 Projection_RNSO2_RN::Projection_RNSO2_RN(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
46  : BaseT(BundleSpace, BaseSpace)
47 {
48  setType(PROJECTION_RNSO2_RN);
49 }
50 
51 void Projection_RNSO2_RN::projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const
52 {
53  const auto *xBundle_SO2 = xBundle->as<base::CompoundState>()->as<base::SO2StateSpace::StateType>(1);
54 
55  auto *xFiber_SO2 = xFiber->as<base::SO2StateSpace::StateType>();
56 
57  xFiber_SO2->value = xBundle_SO2->value;
58 }
59 
60 void Projection_RNSO2_RN::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
61 {
62  const auto *xBundle_R3 = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(0);
63  auto *xBase_R3 = xBase->as<base::RealVectorStateSpace::StateType>();
64 
65  for (unsigned int k = 0; k < 3; k++)
66  {
67  xBase_R3->values[k] = xBundle_R3->values[k];
68  }
69 }
70 
71 void Projection_RNSO2_RN::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
72  ompl::base::State *xBundle) const
73 {
74  auto *xBundle_R3 = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(0);
75  auto *xBundle_SO2 = xBundle->as<base::CompoundState>()->as<base::SO2StateSpace::StateType>(1);
76 
77  const auto *xFiber_SO2 = xFiber->as<base::SO2StateSpace::StateType>();
78 
79  const auto *xBase_R3 = xBase->as<base::RealVectorStateSpace::StateType>();
80 
81  for (unsigned int k = 0; k < 3; k++)
82  {
83  xBundle_R3->values[k] = xBase_R3->values[k];
84  }
85  xBundle_SO2->value = xFiber_SO2->value;
86 }
87 
88 ompl::base::StateSpacePtr Projection_RNSO2_RN::computeFiberSpace()
89 {
90  unsigned int N = getDimension();
91  unsigned int Y = getBaseDimension();
92  if (Y != (N - 1))
93  {
94  OMPL_ERROR("Assumed input is SO(2)xRN -> RN, but got %d -> %d dimensions.", N, Y);
95  throw "Invalid Dimensionality";
96  }
97  return std::make_shared<base::SO2StateSpace>();
98 }
Definition of an abstract state.
Definition: State.h:113
This namespace contains datastructures and planners to exploit multilevel abstractions,...
const T * as() const
Cast this instance to a desired type.
Definition: State.h:162
ompl::base::State StateType
Define the type of state allocated by this space.
Definition: StateSpace.h:142
@ PROJECTION_RNSO2_RN
RNSO2 \rightarrow RN, n > 0.
A single Bundle-space.
Definition: BundleSpace.h:131
A shared pointer wrapper for ompl::base::StateSpace.
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition: Console.h:64