Geodesic.cpp

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/* Author: Andreas Orthey */
 
#include <ompl/multilevel/datastructures/metrics/Geodesic.h>
#include <ompl/multilevel/datastructures/Projection.h>
using namespace ompl::multilevel;
using Configuration = ompl::multilevel::BundleSpaceGraph::Configuration;
 
BundleSpaceMetricGeodesic::BundleSpaceMetricGeodesic(BundleSpaceGraph *bundleSpaceGraph) : BaseT(bundleSpaceGraph)
{
}
 
double BundleSpaceMetricGeodesic::distanceBundle(const Configuration *xStart, const Configuration *xDest)
{
    return bundleSpaceGraph_->getBundle()->distance(xStart->state, xDest->state);
}
 
double BundleSpaceMetricGeodesic::distanceFiber(const Configuration * /*xStart*/, const Configuration * /*xDest*/)
{
    throw "Computing distance along fiber requires explicit fiber space.";
    return 0.0;
}
 
double BundleSpaceMetricGeodesic::distanceBase(const Configuration *xStart, const Configuration *xDest)
{
    if (bundleSpaceGraph_->getBaseDimension() > 0)
    {
        bundleSpaceGraph_->getProjection()->project(xStart->state, xBaseStartTmp_);
        bundleSpaceGraph_->getProjection()->project(xDest->state, xBaseDestTmp_);
        double d = bundleSpaceGraph_->getBase()->distance(xBaseStartTmp_, xBaseDestTmp_);
        return d;
    }
    else
    {
        return 0.0;
    }
}
 
void BundleSpaceMetricGeodesic::interpolateBundle(const Configuration *q_from, const Configuration *q_to,
                                                  const double step, Configuration *q_interp)
{
    bundleSpaceGraph_->getBundle()->getStateSpace()->interpolate(q_from->state, q_to->state, step, q_interp->state);
}