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ompl
multilevel
datastructures
projections
XRN_XRM_SO2.h
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2020,
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* Max Planck Institute for Intelligent Systems (MPI-IS).
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* disclaimer in the documentation and/or other materials provided
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* * Neither the name of the MPI-IS nor the names
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* of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written
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* permission.
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Andreas Orthey */
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#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_SO2RN_SO2RM__
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#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_SO2RN_SO2RM__
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#include <ompl/multilevel/datastructures/projections/XRN_XRM.h>
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namespace
ompl
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{
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namespace
multilevel
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{
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class
Projection_SO2RN_SO2RM :
public
Projection_XRN_XRM
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{
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using
BaseT = Projection_XRN_XRM;
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public
:
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Projection_SO2RN_SO2RM(base::StateSpacePtr BundleSpace, base::StateSpacePtr BaseSpace);
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~Projection_SO2RN_SO2RM()
override
=
default
;
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virtual
void
project(
const
ompl::base::State
*xBundle,
ompl::base::State
*xBase)
const override
;
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virtual
void
lift(
const
ompl::base::State
*xBase,
const
ompl::base::State
*xFiber,
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ompl::base::State
*xBundle)
const override
;
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};
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}
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}
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#endif
ompl::base::State
Definition of an abstract state.
Definition:
State.h:113
ompl
Main namespace. Contains everything in this library.
Definition:
MultiLevelPlanarManipulatorDemo.cpp:65