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Identity.cpp
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36
37/* Author: Andreas Orthey */
38
39#include <ompl/multilevel/datastructures/projections/Identity.h>
40#include <ompl/base/spaces/EmptyStateSpace.h>
41
42using namespace ompl::multilevel;
43
44Projection_Identity::Projection_Identity(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
45 : BaseT(BundleSpace, BaseSpace)
46{
47 setType(PROJECTION_IDENTITY);
48}
49
50void Projection_Identity::projectFiber(const ompl::base::State *, ompl::base::State *) const
51{
52 OMPL_WARN("Trying to project to fiber of Identity Bundle Space.");
53}
54
55void Projection_Identity::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
56{
57 getBundle()->copyState(xBase, xBundle);
58}
59
60void Projection_Identity::lift(const ompl::base::State *xBase, const ompl::base::State *,
61 ompl::base::State *xBundle) const
62{
63 getBundle()->copyState(xBundle, xBase);
64}
65
66ompl::base::StateSpacePtr Projection_Identity::computeFiberSpace()
67{
68 return std::make_shared<base::EmptyStateSpace>();
69}
A shared pointer wrapper for ompl::base::StateSpace.
Definition of an abstract state.
Definition State.h:50
A single Bundle-space.
Definition BundleSpace.h:64
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition Console.h:66
This namespace contains datastructures and planners to exploit multilevel abstractions,...
@ PROJECTION_IDENTITY
ompl::multilevel::Projection_Identity