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SE3RN_R3.cpp
46Projection_SE3RN_R3::Projection_SE3RN_R3(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
52void Projection_SE3RN_R3::projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const
54 const auto *xBundle_SE3 = xBundle->as<base::CompoundState>()->as<base::SE3StateSpace::StateType>(0);
56 const auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
59 auto *xFiber_RN = xFiber->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
72void Projection_SE3RN_R3::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
74 const auto *xBundle_SE3 = xBundle->as<base::CompoundState>()->as<base::SE3StateSpace::StateType>(0);
87 auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
90 const auto *xFiber_SO3 = xFiber->as<base::CompoundState>()->as<base::SO3StateSpace::StateType>(0);
91 const auto *xFiber_RN = xFiber->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
A space to allow the composition of state spaces.
Definition StateSpace.h:574
const std::vector< StateSpacePtr > & getSubspaces() const
Get the list of components.
Definition StateSpace.cpp:978
The definition of a state in Rn
Definition RealVectorStateSpace.h:78
A state space representing Rn. The distance function is the L2 norm.
Definition RealVectorStateSpace.h:74
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
Definition RealVectorStateSpace.cpp:138
A state space representing SO(3). The internal representation is done with quaternions....
Definition SO3StateSpace.h:83
A shared pointer wrapper for ompl::base::StateSpace.
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Definition MultiLevelPlanarManipulatorDemo.cpp:68