XRN_XRM.h
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36 
37 /* Author: Andreas Orthey */
38 
39 #ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_XRN_XRM__
40 #define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_XRN_XRM__
41 #include <ompl/multilevel/datastructures/projections/FiberedProjection.h>
42 
43 namespace ompl
44 {
45  namespace multilevel
46  {
47  class Projection_XRN_XRM : public FiberedProjection
48  {
49  using BaseT = FiberedProjection;
50 
51  public:
52  Projection_XRN_XRM(base::StateSpacePtr BundleSpace, base::StateSpacePtr BaseSpace);
53 
54  virtual ~Projection_XRN_XRM() override = default;
55 
56  virtual void projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const override;
57 
58  virtual void project(const ompl::base::State *xBundle, ompl::base::State *xBase) const override = 0;
59 
60  virtual void lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
61  ompl::base::State *xBundle) const override = 0;
62 
63  protected:
64  ompl::base::StateSpacePtr computeFiberSpace() override;
65  unsigned int dimensionBaseFirstSubspace{0};
66  };
67  }
68 }
69 
70 #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.