XRN_XRM_SE2.cpp

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/* Author: Andreas Orthey */
 
#include <ompl/multilevel/datastructures/projections/XRN_XRM_SE2.h>
#include <ompl/base/spaces/SE2StateSpace.h>
#include <ompl/base/spaces/RealVectorStateSpace.h>
 
#include <ompl/util/Exception.h>
 
using namespace ompl::multilevel;
 
Projection_SE2RN_SE2RM::Projection_SE2RN_SE2RM(ompl::base::StateSpacePtr BundleSpace,
                                               ompl::base::StateSpacePtr BaseSpace)
  : BaseT(BundleSpace, BaseSpace)
{
    setType(PROJECTION_SE2RN_SE2RM);
}
 
void Projection_SE2RN_SE2RM::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
{
    const auto *xBundle_SE2 = xBundle->as<base::CompoundState>()->as<base::SE2StateSpace::StateType>(0);
    const auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
 
    auto *xBase_SE2 = xBase->as<base::CompoundState>()->as<base::SE2StateSpace::StateType>(0);
    auto *xBase_RN = xBase->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
 
    xBase_SE2->setX(xBundle_SE2->getX());
    xBase_SE2->setY(xBundle_SE2->getY());
    xBase_SE2->setYaw(xBundle_SE2->getYaw());
 
    for (unsigned int k = 0; k < getBaseDimension() - 3; k++)
    {
        xBase_RN->values[k] = xBundle_RN->values[k];
    }
}
 
void Projection_SE2RN_SE2RM::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
                                  ompl::base::State *xBundle) const
{
    auto *xBundle_SE2 = xBundle->as<base::CompoundState>()->as<base::SE2StateSpace::StateType>(0);
    auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
 
    const auto *xBase_SE2 = xBase->as<base::CompoundState>()->as<base::SE2StateSpace::StateType>(0);
    const auto *xBase_RM = xBase->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
 
    const auto *xFiber_RJ = xFiber->as<base::RealVectorStateSpace::StateType>();
 
    xBundle_SE2->setX(xBase_SE2->getX());
    xBundle_SE2->setY(xBase_SE2->getY());
    xBundle_SE2->setYaw(xBase_SE2->getYaw());
 
    //[X Y YAW] [1...M-1][M...N-1]
    // SE2               RN
    unsigned int M = getDimension() - getFiberDimension() - 3;
    unsigned int N = getFiberDimension();
 
    for (unsigned int k = 0; k < M; k++)
    {
        xBundle_RN->values[k] = xBase_RM->values[k];
    }
    for (unsigned int k = M; k < M + N; k++)
    {
        xBundle_RN->values[k] = xFiber_RJ->values[k - M];
    }
}