EmptySet.h
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36 
37 /* Author: Andreas Orthey */
38 
39 #ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_EMPTYSETPROJECTION___
40 #define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_EMPTYSETPROJECTION___
41 #include <ompl/multilevel/datastructures/projections/FiberedProjection.h>
42 
43 namespace ompl
44 {
45  namespace multilevel
46  {
52  class Projection_EmptySet : public FiberedProjection
53  {
54  using BaseT = FiberedProjection;
55 
56  public:
57  Projection_EmptySet(base::StateSpacePtr BundleSpace, base::StateSpacePtr BaseSpace);
58 
59  ~Projection_EmptySet() override = default;
60 
61  virtual void projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const override;
62 
63  virtual void project(const ompl::base::State *xBundle, ompl::base::State *xBase) const override;
64 
65  virtual void lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
66  ompl::base::State *xBundle) const override;
67 
68  protected:
69  ompl::base::StateSpacePtr computeFiberSpace() override;
70  };
71  }
72 }
73 
74 #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.