XRN_XRM.h

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/* Author: Andreas Orthey */
 
#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_XRN_XRM__
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_XRN_XRM__
#include <ompl/multilevel/datastructures/projections/FiberedProjection.h>
 
namespace ompl
{
    namespace multilevel
    {
        class Projection_XRN_XRM : public FiberedProjection
        {
            using BaseT = FiberedProjection;
 
        public:
            Projection_XRN_XRM(base::StateSpacePtr BundleSpace, base::StateSpacePtr BaseSpace);
 
            virtual ~Projection_XRN_XRM() override = default;
 
            virtual void projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const override;
 
            virtual void project(const ompl::base::State *xBundle, ompl::base::State *xBase) const override = 0;
 
            virtual void lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
                              ompl::base::State *xBundle) const override = 0;
 
        protected:
            ompl::base::StateSpacePtr computeFiberSpace() override;
            unsigned int dimensionBaseFirstSubspace{0};
        };
    }
}
 
#endif