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XRN_XRM.cpp
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36
37/* Author: Andreas Orthey */
38
39#include <ompl/multilevel/datastructures/projections/XRN_XRM.h>
40#include <ompl/base/spaces/RealVectorStateSpace.h>
41
42#include <ompl/util/Exception.h>
43
44using namespace ompl::multilevel;
45
46Projection_XRN_XRM::Projection_XRN_XRM(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
47 : BaseT(BundleSpace, BaseSpace)
48{
49}
50void Projection_XRN_XRM::projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const
51{
52 const auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
53
54 const auto *xFiber_RJ = xFiber->as<base::RealVectorStateSpace::StateType>();
55
56 unsigned int Noffset = getBaseDimension() - dimensionBaseFirstSubspace;
57 for (unsigned int k = 0; k < getFiberDimension(); k++)
58 {
59 xFiber_RJ->values[k] = xBundle_RN->values[k + Noffset];
60 }
61}
62
63ompl::base::StateSpacePtr Projection_XRN_XRM::computeFiberSpace()
64{
65 base::CompoundStateSpace *Bundle_compound = getBundle()->as<base::CompoundStateSpace>();
66 const std::vector<base::StateSpacePtr> Bundle_decomposed = Bundle_compound->getSubspaces();
67
68 base::CompoundStateSpace *Base_compound = getBase()->as<base::CompoundStateSpace>();
69 const std::vector<base::StateSpacePtr> Base_decomposed = Base_compound->getSubspaces();
70
71 dimensionBaseFirstSubspace = Base_decomposed.at(0)->getDimension();
72
73 unsigned int Nbundle = Bundle_decomposed.at(1)->getDimension();
74 unsigned int Nbase = Base_decomposed.at(1)->getDimension();
75 unsigned int Nfiber = Nbundle - Nbase;
76
77 base::StateSpacePtr Fiber_RN(new base::RealVectorStateSpace(Nfiber));
78
79 const auto *Bundle_RN = Bundle_decomposed.at(1)->as<base::RealVectorStateSpace>();
80 base::RealVectorBounds Bundle_bounds = Bundle_RN->getBounds();
81 std::vector<double> low;
82 low.resize(Nfiber);
83 std::vector<double> high;
84 high.resize(Nfiber);
85 base::RealVectorBounds Fiber_bounds(Nfiber);
86 for (unsigned int k = 0; k < Nfiber; k++)
87 {
88 Fiber_bounds.setLow(k, Bundle_bounds.low.at(k + Nbase));
89 Fiber_bounds.setHigh(k, Bundle_bounds.high.at(k + Nbase));
90 }
91 std::static_pointer_cast<base::RealVectorStateSpace>(Fiber_RN)->setBounds(Fiber_bounds);
92
93 return Fiber_RN;
94}
const std::vector< StateSpacePtr > & getSubspaces() const
Get the list of components.
ompl::base::State StateType
Define the type of state allocated by this space.
Definition StateSpace.h:78
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,...