XRN_XRM_SE2.h
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36 
37 /* Author: Andreas Orthey */
38 
39 #ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_SE2RN_SE2RM__
40 #define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_SE2RN_SE2RM__
41 #include <ompl/multilevel/datastructures/projections/XRN_XRM.h>
42 
43 namespace ompl
44 {
45  namespace multilevel
46  {
47  class Projection_SE2RN_SE2RM : public Projection_XRN_XRM
48  {
49  using BaseT = Projection_XRN_XRM;
50 
51  public:
52  Projection_SE2RN_SE2RM(base::StateSpacePtr BundleSpace, base::StateSpacePtr BaseSpace);
53 
54  ~Projection_SE2RN_SE2RM() override = default;
55 
56  virtual void project(const ompl::base::State *xBundle, ompl::base::State *xBase) const override;
57 
58  virtual void lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
59  ompl::base::State *xBundle) const override;
60  };
61  }
62 }
63 
64 #endif
Definition of an abstract state.
Definition: State.h:113
Main namespace. Contains everything in this library.