SE2RN_R2.cpp

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/* Author: Andreas Orthey */
 
#include <ompl/multilevel/datastructures/projections/SE2RN_R2.h>
#include <ompl/base/spaces/SE2StateSpace.h>
#include <ompl/base/spaces/SO2StateSpace.h>
#include <ompl/base/spaces/RealVectorStateSpace.h>
 
#include <ompl/util/Exception.h>
 
using namespace ompl::multilevel;
 
Projection_SE2RN_R2::Projection_SE2RN_R2(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
  : BaseT(BundleSpace, BaseSpace)
{
    setType(PROJECTION_SE2RN_R2);
}
 
void Projection_SE2RN_R2::projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const
{
    const auto *xBundle_SE2 = xBundle->as<base::CompoundState>()->as<base::SE2StateSpace::StateType>(0);
    const auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
 
    auto *xFiber_SO2 = xFiber->as<base::CompoundState>()->as<base::SO2StateSpace::StateType>(0);
    auto *xFiber_RN = xFiber->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
 
    xFiber_SO2->value = xBundle_SE2->getYaw();
    for (unsigned int k = 0; k < getFiberDimension() - 1; k++)
    {
        xFiber_RN->values[k] = xBundle_RN->values[k];
    }
}
 
void Projection_SE2RN_R2::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
{
    const auto *xBundle_SE2 = xBundle->as<base::CompoundState>()->as<base::SE2StateSpace::StateType>(0);
    auto *xBase_R2 = xBase->as<base::RealVectorStateSpace::StateType>();
    xBase_R2->values[0] = xBundle_SE2->getX();
    xBase_R2->values[1] = xBundle_SE2->getY();
}
 
void Projection_SE2RN_R2::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
                               ompl::base::State *xBundle) const
{
    auto *xBundle_SE2 = xBundle->as<base::CompoundState>()->as<base::SE2StateSpace::StateType>(0);
    auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
 
    const auto *xBase_R2 = xBase->as<base::RealVectorStateSpace::StateType>();
 
    const auto *xFiber_SO2 = xFiber->as<base::CompoundState>()->as<base::SO2StateSpace::StateType>(0);
    const auto *xFiber_RN = xFiber->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
 
    xBundle_SE2->setX(xBase_R2->values[0]);
    xBundle_SE2->setY(xBase_R2->values[1]);
    xBundle_SE2->setYaw(xFiber_SO2->value);
 
    for (unsigned int k = 0; k < getFiberDimension() - 1; k++)
    {
        xBundle_RN->values[k] = xFiber_RN->values[k];
    }
}
 
ompl::base::StateSpacePtr Projection_SE2RN_R2::computeFiberSpace()
{
    unsigned int N = getDimension();
    unsigned int Y = getBaseDimension();
    if (N > 3 && Y != 2)
    {
        OMPL_ERROR("Assumed input is SE(2)xRN -> R2, but got %d -> %d dimensions.", N, Y);
        throw Exception("Invalid Dimensionality");
    }
 
    base::CompoundStateSpace *Bundle_compound = getBundle()->as<base::CompoundStateSpace>();
    const std::vector<base::StateSpacePtr> Bundle_decomposed = Bundle_compound->getSubspaces();
    const std::vector<base::StateSpacePtr> Bundle_SE2_decomposed =
        Bundle_decomposed.at(0)->as<base::CompoundStateSpace>()->getSubspaces();
 
    const auto *Bundle_RN = Bundle_decomposed.at(1)->as<base::RealVectorStateSpace>();
    unsigned int N_RN = Bundle_RN->getDimension();
 
    base::StateSpacePtr SO2(new base::SO2StateSpace());
    base::StateSpacePtr RN(new base::RealVectorStateSpace(N_RN));
    RN->as<base::RealVectorStateSpace>()->setBounds(Bundle_RN->getBounds());
 
    return SO2 + RN;
}