EmptySet.cpp

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/* Author: Andreas Orthey */
 
#include <ompl/multilevel/datastructures/projections/EmptySet.h>
#include <ompl/multilevel/datastructures/ProjectionTypes.h>
#include <ompl/base/spaces/RealVectorStateSpace.h>
 
using namespace ompl::multilevel;
 
Projection_EmptySet::Projection_EmptySet(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
  : BaseT(BundleSpace, BaseSpace)
{
    setType(PROJECTION_EMPTY_SET);
}
 
void Projection_EmptySet::projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const
{
    getBundle()->copyState(xFiber, xBundle);
}
 
void Projection_EmptySet::project(const ompl::base::State *, ompl::base::State *) const
{
    OMPL_WARN("Trying to project to base of Empty-Set Projection space.");
}
 
void Projection_EmptySet::lift(const ompl::base::State *, const ompl::base::State *xFiber,
                               ompl::base::State *xBundle) const
{
    getBundle()->copyState(xBundle, xFiber);
}
 
ompl::base::StateSpacePtr Projection_EmptySet::computeFiberSpace()
{
    return getBundle();
}