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RN_RM.cpp
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36
37/* Author: Andreas Orthey */
38
39#include <ompl/multilevel/datastructures/projections/RN_RM.h>
40#include <ompl/base/spaces/RealVectorStateSpace.h>
41
42using namespace ompl::multilevel;
43
44Projection_RN_RM::Projection_RN_RM(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
45 : BaseT(BundleSpace, BaseSpace)
46{
47 setType(PROJECTION_RN_RM);
48}
49
50void Projection_RN_RM::projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const
51{
52 const auto *xBundle_RN = xBundle->as<base::RealVectorStateSpace::StateType>();
53
54 auto *xFiber_RM = xFiber->as<base::RealVectorStateSpace::StateType>();
55
56 for (unsigned int k = getBaseDimension(); k < getDimension(); k++)
57 {
58 xFiber_RM->values[k - getBaseDimension()] = xBundle_RN->values[k];
59 }
60}
61
62void Projection_RN_RM::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
63{
64 const auto *xBundle_RN = xBundle->as<base::RealVectorStateSpace::StateType>();
65 auto *xBase_RM = xBase->as<base::RealVectorStateSpace::StateType>();
66
67 for (unsigned int k = 0; k < getBaseDimension(); k++)
68 {
69 xBase_RM->values[k] = xBundle_RN->values[k];
70 }
71}
72
73void Projection_RN_RM::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
74 ompl::base::State *xBundle) const
75{
76 auto *xBundle_RN = xBundle->as<base::RealVectorStateSpace::StateType>();
77 const auto *xBase_RM = xBase->as<base::RealVectorStateSpace::StateType>();
78 const auto *xFiber_RJ = xFiber->as<base::RealVectorStateSpace::StateType>();
79
80 for (unsigned int k = 0; k < getBaseDimension(); k++)
81 {
82 xBundle_RN->values[k] = xBase_RM->values[k];
83 }
84 for (unsigned int k = getBaseDimension(); k < getDimension(); k++)
85 {
86 xBundle_RN->values[k] = xFiber_RJ->values[k - getBaseDimension()];
87 }
88}
89
90ompl::base::StateSpacePtr Projection_RN_RM::computeFiberSpace()
91{
92 unsigned int N1 = getDimension();
93 unsigned int N0 = getBaseDimension();
94 unsigned int NX = N1 - N0;
95 base::StateSpacePtr FiberSpace = std::make_shared<base::RealVectorStateSpace>(NX);
96 base::RealVectorBounds Bundle_bounds =
97 std::static_pointer_cast<base::RealVectorStateSpace>(getBundle())->getBounds();
98
99 std::vector<double> low;
100 low.resize(NX);
101 std::vector<double> high;
102 high.resize(NX);
103 base::RealVectorBounds Fiber_bounds(NX);
104 for (unsigned int k = 0; k < NX; k++)
105 {
106 Fiber_bounds.setLow(k, Bundle_bounds.low.at(k + N0));
107 Fiber_bounds.setHigh(k, Bundle_bounds.high.at(k + N0));
108 }
109 std::static_pointer_cast<base::RealVectorStateSpace>(FiberSpace)->setBounds(Fiber_bounds);
110 return FiberSpace;
111}
std::vector< double > high
Upper bound.
std::vector< double > low
Lower bound.
double * values
The value of the actual vector in Rn
ompl::base::State StateType
Define the type of state allocated by this space.
Definition StateSpace.h:78
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
This namespace contains datastructures and planners to exploit multilevel abstractions,...
@ PROJECTION_RN_RM
RN \rightarrow RM, m < n.