XRN_X_SE3.cpp

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/* Author: Andreas Orthey */
 
#include <ompl/multilevel/datastructures/projections/XRN_X_SE3.h>
#include <ompl/base/spaces/SE3StateSpace.h>
#include <ompl/base/spaces/SO3StateSpace.h>
#include <ompl/base/spaces/RealVectorStateSpace.h>
 
using namespace ompl::multilevel;
 
Projection_SE3RN_SE3::Projection_SE3RN_SE3(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
  : BaseT(BundleSpace, BaseSpace)
{
    setType(PROJECTION_SE3RN_SE3);
}
 
void Projection_SE3RN_SE3::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
{
    const auto *xBundle_SE3 = xBundle->as<base::CompoundState>()->as<base::SE3StateSpace::StateType>(0);
    const auto *xBundle_SO3 = &xBundle_SE3->rotation();
 
    auto *xBase_SE3 = xBase->as<base::SE3StateSpace::StateType>();
    auto *xBase_SO3 = &xBase_SE3->rotation();
 
    xBase_SE3->setXYZ(xBundle_SE3->getX(), xBundle_SE3->getY(), xBundle_SE3->getZ());
    xBase_SO3->x = xBundle_SO3->x;
    xBase_SO3->y = xBundle_SO3->y;
    xBase_SO3->z = xBundle_SO3->z;
    xBase_SO3->w = xBundle_SO3->w;
}
 
void Projection_SE3RN_SE3::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
                                ompl::base::State *xBundle) const
{
    auto *xBundle_SE3 = xBundle->as<base::CompoundState>()->as<base::SE3StateSpace::StateType>(0);
    auto *xBundle_SO3 = &xBundle_SE3->rotation();
    auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
 
    const auto *xBase_SE3 = xBase->as<base::SE3StateSpace::StateType>();
    const auto *xBase_SO3 = &xBase_SE3->rotation();
 
    const auto *xFiber_RN = xFiber->as<base::RealVectorStateSpace::StateType>();
 
    xBundle_SE3->setXYZ(xBase_SE3->getX(), xBase_SE3->getY(), xBase_SE3->getZ());
    xBundle_SO3->x = xBase_SO3->x;
    xBundle_SO3->y = xBase_SO3->y;
    xBundle_SO3->z = xBase_SO3->z;
    xBundle_SO3->w = xBase_SO3->w;
 
    for (unsigned int k = 0; k < getFiberDimension(); k++)
    {
        xBundle_RN->values[k] = xFiber_RN->values[k];
    }
}