XRN_X.cpp

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/* Author: Andreas Orthey */
 
#include <ompl/multilevel/datastructures/projections/XRN_X.h>
#include <ompl/base/spaces/RealVectorStateSpace.h>
#include <ompl/util/Exception.h>
 
using namespace ompl::multilevel;
 
Projection_XRN_X::Projection_XRN_X(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
  : BaseT(BundleSpace, BaseSpace)
{
}
 
void Projection_XRN_X::projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const
{
    const auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
    auto *xFiber_RN = xFiber->as<base::RealVectorStateSpace::StateType>();
 
    for (unsigned int k = 0; k < getFiberDimension(); k++)
    {
        xFiber_RN->values[k] = xBundle_RN->values[k];
    }
}
 
ompl::base::StateSpacePtr Projection_XRN_X::computeFiberSpace()
{
    base::CompoundStateSpace *Bundle_compound = getBundle()->as<base::CompoundStateSpace>();
    const std::vector<base::StateSpacePtr> Bundle_decomposed = Bundle_compound->getSubspaces();
 
    const auto *Bundle_RN = Bundle_decomposed.at(1)->as<base::RealVectorStateSpace>();
 
    unsigned int N = Bundle_RN->getDimension();
 
    base::StateSpacePtr RN = std::make_shared<base::RealVectorStateSpace>(N);
    std::static_pointer_cast<base::RealVectorStateSpace>(RN)->setBounds(Bundle_RN->getBounds());
    return RN;
}