XRN_X_SE3.cpp
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36 
37 /* Author: Andreas Orthey */
38 
39 #include <ompl/multilevel/datastructures/projections/XRN_X_SE3.h>
40 #include <ompl/base/spaces/SE3StateSpace.h>
41 #include <ompl/base/spaces/SO3StateSpace.h>
42 #include <ompl/base/spaces/RealVectorStateSpace.h>
43 
44 using namespace ompl::multilevel;
45 
46 Projection_SE3RN_SE3::Projection_SE3RN_SE3(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
47  : BaseT(BundleSpace, BaseSpace)
48 {
49  setType(PROJECTION_SE3RN_SE3);
50 }
51 
52 void Projection_SE3RN_SE3::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
53 {
54  const auto *xBundle_SE3 = xBundle->as<base::CompoundState>()->as<base::SE3StateSpace::StateType>(0);
55  const auto *xBundle_SO3 = &xBundle_SE3->rotation();
56 
57  auto *xBase_SE3 = xBase->as<base::SE3StateSpace::StateType>();
58  auto *xBase_SO3 = &xBase_SE3->rotation();
59 
60  xBase_SE3->setXYZ(xBundle_SE3->getX(), xBundle_SE3->getY(), xBundle_SE3->getZ());
61  xBase_SO3->x = xBundle_SO3->x;
62  xBase_SO3->y = xBundle_SO3->y;
63  xBase_SO3->z = xBundle_SO3->z;
64  xBase_SO3->w = xBundle_SO3->w;
65 }
66 
67 void Projection_SE3RN_SE3::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
68  ompl::base::State *xBundle) const
69 {
70  auto *xBundle_SE3 = xBundle->as<base::CompoundState>()->as<base::SE3StateSpace::StateType>(0);
71  auto *xBundle_SO3 = &xBundle_SE3->rotation();
72  auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
73 
74  const auto *xBase_SE3 = xBase->as<base::SE3StateSpace::StateType>();
75  const auto *xBase_SO3 = &xBase_SE3->rotation();
76 
77  const auto *xFiber_RN = xFiber->as<base::RealVectorStateSpace::StateType>();
78 
79  xBundle_SE3->setXYZ(xBase_SE3->getX(), xBase_SE3->getY(), xBase_SE3->getZ());
80  xBundle_SO3->x = xBase_SO3->x;
81  xBundle_SO3->y = xBase_SO3->y;
82  xBundle_SO3->z = xBase_SO3->z;
83  xBundle_SO3->w = xBase_SO3->w;
84 
85  for (unsigned int k = 0; k < getFiberDimension(); k++)
86  {
87  xBundle_RN->values[k] = xFiber_RN->values[k];
88  }
89 }
Definition of an abstract state.
Definition: State.h:113
@ PROJECTION_SE3RN_SE3
SE3RN \rightarrow SE3.
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
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:641
A single Bundle-space.
Definition: BundleSpace.h:131
A shared pointer wrapper for ompl::base::StateSpace.
unsigned int getFiberDimension() const
Dimension of Fiber Space.