Loading...
Searching...
No Matches
XRN_X_SE3.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_SE3.h>
40#include <ompl/base/spaces/SE3StateSpace.h>
41#include <ompl/base/spaces/SO3StateSpace.h>
42#include <ompl/base/spaces/RealVectorStateSpace.h>
43
44using namespace ompl::multilevel;
45
46Projection_SE3RN_SE3::Projection_SE3RN_SE3(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
47 : BaseT(BundleSpace, BaseSpace)
48{
49 setType(PROJECTION_SE3RN_SE3);
50}
51
52void Projection_SE3RN_SE3::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
53{
54 const auto *xBundle_SE3 = xBundle->as<base::CompoundState>()->as<base::SE3StateSpace::StateType>(0);
55 const auto *xBundle_SO3 = &xBundle_SE3->rotation();
56
57 auto *xBase_SE3 = xBase->as<base::SE3StateSpace::StateType>();
58 auto *xBase_SO3 = &xBase_SE3->rotation();
59
60 xBase_SE3->setXYZ(xBundle_SE3->getX(), xBundle_SE3->getY(), xBundle_SE3->getZ());
61 xBase_SO3->x = xBundle_SO3->x;
62 xBase_SO3->y = xBundle_SO3->y;
63 xBase_SO3->z = xBundle_SO3->z;
64 xBase_SO3->w = xBundle_SO3->w;
65}
66
67void Projection_SE3RN_SE3::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
68 ompl::base::State *xBundle) const
69{
70 auto *xBundle_SE3 = xBundle->as<base::CompoundState>()->as<base::SE3StateSpace::StateType>(0);
71 auto *xBundle_SO3 = &xBundle_SE3->rotation();
72 auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
73
74 const auto *xBase_SE3 = xBase->as<base::SE3StateSpace::StateType>();
75 const auto *xBase_SO3 = &xBase_SE3->rotation();
76
77 const auto *xFiber_RN = xFiber->as<base::RealVectorStateSpace::StateType>();
78
79 xBundle_SE3->setXYZ(xBase_SE3->getX(), xBase_SE3->getY(), xBase_SE3->getZ());
80 xBundle_SO3->x = xBase_SO3->x;
81 xBundle_SO3->y = xBase_SO3->y;
82 xBundle_SO3->z = xBase_SO3->z;
83 xBundle_SO3->w = xBase_SO3->w;
84
85 for (unsigned int k = 0; k < getFiberDimension(); k++)
86 {
87 xBundle_RN->values[k] = xFiber_RN->values[k];
88 }
89}
Definition of a compound state.
Definition State.h:87
A state in SE(3): position = (x, y, z), quaternion = (x, y, z, w)
const SO3StateSpace::StateType & rotation() const
Get the rotation component of the state.
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_SE3RN_SE3
SE3RN \rightarrow SE3.