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SE2_R2.cpp
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36
37/* Author: Andreas Orthey */
38
39#include <ompl/multilevel/datastructures/projections/SE2_R2.h>
40#include <ompl/base/spaces/SE2StateSpace.h>
41#include <ompl/base/spaces/SO2StateSpace.h>
42#include <ompl/base/spaces/RealVectorStateSpace.h>
43
44using namespace ompl::multilevel;
45
46Projection_SE2_R2::Projection_SE2_R2(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
47 : BaseT(BundleSpace, BaseSpace)
48{
49 setType(PROJECTION_SE2_R2);
50}
51
52void Projection_SE2_R2::projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const
53{
54 const auto *xBundle_SE2 = xBundle->as<base::SE2StateSpace::StateType>();
55 auto *xFiber_SO2 = xFiber->as<base::SO2StateSpace::StateType>();
56 xFiber_SO2->value = xBundle_SE2->getYaw();
57}
58
59void Projection_SE2_R2::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
60{
61 const auto *xBundle_SE2 = xBundle->as<base::SE2StateSpace::StateType>();
62 auto *xBase_R2 = xBase->as<base::RealVectorStateSpace::StateType>();
63 xBase_R2->values[0] = xBundle_SE2->getX();
64 xBase_R2->values[1] = xBundle_SE2->getY();
65}
66
67void Projection_SE2_R2::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
68 ompl::base::State *xBundle) const
69{
70 auto *xBundle_SE2 = xBundle->as<base::SE2StateSpace::StateType>();
71 const auto *xBase_R2 = xBase->as<base::RealVectorStateSpace::StateType>();
72 const auto *xFiber_SO2 = xFiber->as<base::SO2StateSpace::StateType>();
73
74 xBundle_SE2->setXY(xBase_R2->values[0], xBase_R2->values[1]);
75 xBundle_SE2->setYaw(xFiber_SO2->value);
76}
77
78ompl::base::StateSpacePtr Projection_SE2_R2::computeFiberSpace()
79{
80 unsigned int N = getDimension();
81 unsigned int Y = getBaseDimension();
82 if (N != 3 && Y != 2)
83 {
84 OMPL_ERROR("Assumed input is SE(2) -> R2, but got %d -> %d dimensions.", N, Y);
85 throw "Invalid Dimensionality";
86 }
87 return std::make_shared<base::SO2StateSpace>();
88}
A state in SE(2): (x, y, yaw)
double getYaw() const
Get the yaw component of the state. This is the rotation in plane, with respect to the Z axis.
double getY() const
Get the Y component of the state.
double getX() const
Get the X component of the state.
The definition of a state in SO(2)
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
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition Console.h:64
This namespace contains datastructures and planners to exploit multilevel abstractions,...
@ PROJECTION_SE2_R2
SE2 \rightarrow R2.