XRN_X.h
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36 
37 /* Author: Andreas Orthey */
38 
39 #ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_XRN_X__
40 #define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_XRN_X__
41 #include <ompl/multilevel/datastructures/projections/FiberedProjection.h>
42 
43 namespace ompl
44 {
45  namespace multilevel
46  {
47  class Projection_XRN_X : public FiberedProjection
48  {
49  using BaseT = FiberedProjection;
50 
51  public:
52  Projection_XRN_X(base::StateSpacePtr BundleSpace, base::StateSpacePtr BaseSpace);
53 
54  virtual ~Projection_XRN_X() override = default;
55 
56  virtual void projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const override;
57 
58  protected:
59  ompl::base::StateSpacePtr computeFiberSpace() override;
60  };
61  }
62 }
63 
64 #endif
Definition of an abstract state.
Definition: State.h:113
A shared pointer wrapper for ompl::base::StateSpace.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21