XRN_X_SO2.cpp
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36 
37 /* Author: Andreas Orthey */
38 
39 #include <ompl/multilevel/datastructures/projections/XRN_X_SO2.h>
40 #include <ompl/base/spaces/SO2StateSpace.h>
41 #include <ompl/base/spaces/RealVectorStateSpace.h>
42 
43 #include <ompl/util/Exception.h>
44 
45 using namespace ompl::multilevel;
46 
47 Projection_SO2RN_SO2::Projection_SO2RN_SO2(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
48  : BaseT(BundleSpace, BaseSpace)
49 {
50  setType(PROJECTION_SO2RN_SO2);
51 }
52 
53 void Projection_SO2RN_SO2::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
54 {
55  const auto *xBundle_SO2 = xBundle->as<base::CompoundState>()->as<base::SO2StateSpace::StateType>(0);
56  auto *xBase_SO2 = xBase->as<base::SO2StateSpace::StateType>();
57 
58  xBase_SO2->value = xBundle_SO2->value;
59 }
60 
61 void Projection_SO2RN_SO2::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
62  ompl::base::State *xBundle) const
63 {
64  auto *xBundle_SO2 = xBundle->as<base::CompoundState>()->as<base::SO2StateSpace::StateType>(0);
65  auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
66 
67  const auto *xBase_SO2 = xBase->as<base::SO2StateSpace::StateType>();
68  const auto *xFiber_RN = xFiber->as<base::RealVectorStateSpace::StateType>();
69 
70  xBundle_SO2->value = xBase_SO2->value;
71 
72  for (unsigned int k = 0; k < getFiberDimension(); k++)
73  {
74  xBundle_RN->values[k] = xFiber_RN->values[k];
75  }
76 }
@ PROJECTION_SO2RN_SO2
SO2RN \rightarrow SO2.
Definition of an abstract state.
Definition: State.h:113
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
A single Bundle-space.
Definition: BundleSpace.h:131
A shared pointer wrapper for ompl::base::StateSpace.
unsigned int getFiberDimension() const
Dimension of Fiber Space.