SE3_R3.cpp

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/* Author: Andreas Orthey */
 
#include <ompl/multilevel/datastructures/projections/SE3_R3.h>
#include <ompl/base/spaces/SE3StateSpace.h>
#include <ompl/base/spaces/SO3StateSpace.h>
#include <ompl/base/spaces/RealVectorStateSpace.h>
 
using namespace ompl::multilevel;
 
Projection_SE3_R3::Projection_SE3_R3(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
  : BaseT(BundleSpace, BaseSpace)
{
    setType(PROJECTION_SE3_R3);
}
 
void Projection_SE3_R3::projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const
{
    const auto *xBundle_SE3 = xBundle->as<base::SE3StateSpace::StateType>();
    const auto *xBundle_SO3 = &xBundle_SE3->rotation();
    auto *xFiber_SO3 = xFiber->as<base::SO3StateSpace::StateType>();
 
    xFiber_SO3->x = xBundle_SO3->x;
    xFiber_SO3->y = xBundle_SO3->y;
    xFiber_SO3->z = xBundle_SO3->z;
    xFiber_SO3->w = xBundle_SO3->w;
}
 
void Projection_SE3_R3::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
{
    const auto *xBundle_SE3 = xBundle->as<base::SE3StateSpace::StateType>();
    auto *xBase_R3 = xBase->as<base::RealVectorStateSpace::StateType>();
    xBase_R3->values[0] = xBundle_SE3->getX();
    xBase_R3->values[1] = xBundle_SE3->getY();
    xBase_R3->values[2] = xBundle_SE3->getZ();
}
 
void Projection_SE3_R3::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
                             ompl::base::State *xBundle) const
{
    auto *xBundle_SE3 = xBundle->as<base::SE3StateSpace::StateType>();
    auto *xBundle_SO3 = &xBundle_SE3->rotation();
 
    const auto *xBase_R3 = xBase->as<base::RealVectorStateSpace::StateType>();
    const auto *xFiber_SO3 = xFiber->as<base::SO3StateSpace::StateType>();
 
    xBundle_SE3->setXYZ(xBase_R3->values[0], xBase_R3->values[1], xBase_R3->values[2]);
 
    xBundle_SO3->x = xFiber_SO3->x;
    xBundle_SO3->y = xFiber_SO3->y;
    xBundle_SO3->z = xFiber_SO3->z;
    xBundle_SO3->w = xFiber_SO3->w;
}
 
ompl::base::StateSpacePtr Projection_SE3_R3::computeFiberSpace()
{
    unsigned int N = getDimension();
    unsigned int Y = getBaseDimension();
    if (N != 6 && Y != 3)
    {
        OMPL_ERROR("Assumed input is SE(3) -> R3, but got %d -> %d dimensions.", N, Y);
        throw "Invalid Dimensionality";
    }
    return std::make_shared<base::SO3StateSpace>();
}