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XRN_XRM_SE2.cpp
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36
37/* Author: Andreas Orthey */
38
39#include <ompl/multilevel/datastructures/projections/XRN_XRM_SE2.h>
40#include <ompl/base/spaces/SE2StateSpace.h>
41#include <ompl/base/spaces/RealVectorStateSpace.h>
42
43#include <ompl/util/Exception.h>
44
45using namespace ompl::multilevel;
46
47Projection_SE2RN_SE2RM::Projection_SE2RN_SE2RM(ompl::base::StateSpacePtr BundleSpace,
49 : BaseT(BundleSpace, BaseSpace)
50{
52}
53
54void Projection_SE2RN_SE2RM::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
55{
56 const auto *xBundle_SE2 = xBundle->as<base::CompoundState>()->as<base::SE2StateSpace::StateType>(0);
57 const auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
58
59 auto *xBase_SE2 = xBase->as<base::CompoundState>()->as<base::SE2StateSpace::StateType>(0);
60 auto *xBase_RN = xBase->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
61
62 xBase_SE2->setX(xBundle_SE2->getX());
63 xBase_SE2->setY(xBundle_SE2->getY());
64 xBase_SE2->setYaw(xBundle_SE2->getYaw());
65
66 for (unsigned int k = 0; k < getBaseDimension() - 3; k++)
67 {
68 xBase_RN->values[k] = xBundle_RN->values[k];
69 }
70}
71
72void Projection_SE2RN_SE2RM::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
73 ompl::base::State *xBundle) const
74{
75 auto *xBundle_SE2 = xBundle->as<base::CompoundState>()->as<base::SE2StateSpace::StateType>(0);
76 auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
77
78 const auto *xBase_SE2 = xBase->as<base::CompoundState>()->as<base::SE2StateSpace::StateType>(0);
79 const auto *xBase_RM = xBase->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
80
81 const auto *xFiber_RJ = xFiber->as<base::RealVectorStateSpace::StateType>();
82
83 xBundle_SE2->setX(xBase_SE2->getX());
84 xBundle_SE2->setY(xBase_SE2->getY());
85 xBundle_SE2->setYaw(xBase_SE2->getYaw());
86
87 //[X Y YAW] [1...M-1][M...N-1]
88 // SE2 RN
89 unsigned int M = getDimension() - getFiberDimension() - 3;
90 unsigned int N = getFiberDimension();
91
92 for (unsigned int k = 0; k < M; k++)
93 {
94 xBundle_RN->values[k] = xBase_RM->values[k];
95 }
96 for (unsigned int k = M; k < M + N; k++)
97 {
98 xBundle_RN->values[k] = xFiber_RJ->values[k - M];
99 }
100}
Definition of a compound state.
Definition State.h:87
A shared pointer wrapper for ompl::base::StateSpace.
Definition of an abstract state.
Definition State.h:50
const T * as() const
Cast this instance to a desired type.
Definition State.h:66
A single Bundle-space.
Definition BundleSpace.h:64
unsigned int getFiberDimension() const
Dimension of Fiber Space.
This namespace contains datastructures and planners to exploit multilevel abstractions,...
@ PROJECTION_SE2RN_SE2RM
SE2RN \rightarrow SE2RM, m < n.