FiberedProjection.h

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/* Author: Andreas Orthey */
 
#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_
#include <ompl/base/State.h>
#include <ompl/base/StateSpaceTypes.h>
#include <ompl/multilevel/datastructures/ProjectionTypes.h>
#include <ompl/multilevel/datastructures/Projection.h>
 
namespace ompl
{
    namespace base
    {
 
        OMPL_CLASS_FORWARD(SpaceInformation);
        OMPL_CLASS_FORWARD(StateSpace);
    }
    namespace multilevel
    {
        /* \brief A bundle projection with an explicit fiber space representation
         * which can be explicitly sampled to lift states */
        class FiberedProjection : public Projection
        {
        public:
            FiberedProjection(base::StateSpacePtr bundleSpace, base::StateSpacePtr baseSpace);
 
            virtual ~FiberedProjection() = default;
 
            virtual void lift(const ompl::base::State *xBase, ompl::base::State *xBundle) const override;
 
            /* \brief Lift base space element using a fiber bundle element */
            virtual void lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
                              ompl::base::State *xBundle) const = 0;
 
            /* \brief Project bundle space onto fiber space */
            virtual void projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const = 0;
 
            /* \brief Get explicit fiber space representation */
            virtual ompl::base::StateSpacePtr getFiberSpace() const;
 
            /* \brief Get explicit fiber space sampler */
            ompl::base::StateSamplerPtr getFiberSamplerPtr() const;
 
            unsigned int getFiberDimension() const;
            std::string getFiberTypeAsString() const;
 
            bool isFibered() const override;
 
            /* \brief Create explicit fiber space representation */
            void makeFiberSpace();
 
        protected:
            virtual ompl::base::StateSpacePtr computeFiberSpace() = 0;
 
            base::StateSpacePtr fiberSpace_{nullptr};
 
            base::SpaceInformationPtr siFiberSpace_{nullptr};
 
            base::StateSamplerPtr fiberSpaceSampler_;
 
            // \brief A temporary state on Fiber space
            ompl::base::State *xFiberTmp_{nullptr};
        };
    }
}
 
#endif