Loading...
Searching...
No Matches
XRN_X_SO3.cpp
1/*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2020,
5 * Max Planck Institute for Intelligent Systems (MPI-IS).
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * * Neither the name of the MPI-IS nor the names
19 * of its contributors may be used to endorse or promote products
20 * derived from this software without specific prior written
21 * permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *********************************************************************/
36
37/* Author: Andreas Orthey */
38
39#include <ompl/multilevel/datastructures/projections/XRN_X_SO3.h>
40#include <ompl/base/spaces/SO3StateSpace.h>
41#include <ompl/base/spaces/RealVectorStateSpace.h>
42
43#include <ompl/util/Exception.h>
44
45using namespace ompl::multilevel;
46
47Projection_SO3RN_SO3::Projection_SO3RN_SO3(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
48 : BaseT(BundleSpace, BaseSpace)
49{
50 setType(PROJECTION_SO3RN_SO3);
51}
52
53void Projection_SO3RN_SO3::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
54{
55 const auto *xBundle_SO3 = xBundle->as<base::CompoundState>()->as<base::SO3StateSpace::StateType>(0);
56 auto *xBase_SO3 = xBase->as<base::SO3StateSpace::StateType>();
57
58 xBase_SO3->x = xBundle_SO3->x;
59 xBase_SO3->y = xBundle_SO3->y;
60 xBase_SO3->z = xBundle_SO3->z;
61 xBase_SO3->w = xBundle_SO3->w;
62}
63
64void Projection_SO3RN_SO3::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
65 ompl::base::State *xBundle) const
66{
67 auto *xBundle_SO3 = xBundle->as<base::CompoundState>()->as<base::SO3StateSpace::StateType>(0);
68 auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
69
70 const auto *xBase_SO3 = xBase->as<base::SO3StateSpace::StateType>();
71 const auto *xFiber_RN = xFiber->as<base::RealVectorStateSpace::StateType>();
72
73 xBundle_SO3->x = xBase_SO3->x;
74 xBundle_SO3->y = xBase_SO3->y;
75 xBundle_SO3->z = xBase_SO3->z;
76 xBundle_SO3->w = xBase_SO3->w;
77
78 for (unsigned int k = 0; k < getFiberDimension(); k++)
79 {
80 xBundle_RN->values[k] = xFiber_RN->values[k];
81 }
82}
Definition of a compound state.
Definition State.h:87
double * values
The value of the actual vector in Rn
The definition of a state in SO(3) represented as a unit quaternion.
double x
X component of quaternion vector.
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_SO3RN_SO3
SO3RN \rightarrow SO3.