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SE2RN_R2.cpp
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36
37/* Author: Andreas Orthey */
38
39#include <ompl/multilevel/datastructures/projections/SE2RN_R2.h>
40#include <ompl/base/spaces/SE2StateSpace.h>
41#include <ompl/base/spaces/SO2StateSpace.h>
42#include <ompl/base/spaces/RealVectorStateSpace.h>
43
44#include <ompl/util/Exception.h>
45
46using namespace ompl::multilevel;
47
48Projection_SE2RN_R2::Projection_SE2RN_R2(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
49 : BaseT(BundleSpace, BaseSpace)
50{
51 setType(PROJECTION_SE2RN_R2);
52}
53
54void Projection_SE2RN_R2::projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const
55{
56 const auto *xBundle_SE2 = xBundle->as<base::CompoundState>()->as<base::SE2StateSpace::StateType>(0);
57 const auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
58
59 auto *xFiber_SO2 = xFiber->as<base::CompoundState>()->as<base::SO2StateSpace::StateType>(0);
60 auto *xFiber_RN = xFiber->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
61
62 xFiber_SO2->value = xBundle_SE2->getYaw();
63 for (unsigned int k = 0; k < getFiberDimension() - 1; k++)
64 {
65 xFiber_RN->values[k] = xBundle_RN->values[k];
66 }
67}
68
69void Projection_SE2RN_R2::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
70{
71 const auto *xBundle_SE2 = xBundle->as<base::CompoundState>()->as<base::SE2StateSpace::StateType>(0);
72 auto *xBase_R2 = xBase->as<base::RealVectorStateSpace::StateType>();
73 xBase_R2->values[0] = xBundle_SE2->getX();
74 xBase_R2->values[1] = xBundle_SE2->getY();
75}
76
77void Projection_SE2RN_R2::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
78 ompl::base::State *xBundle) const
79{
80 auto *xBundle_SE2 = xBundle->as<base::CompoundState>()->as<base::SE2StateSpace::StateType>(0);
81 auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
82
83 const auto *xBase_R2 = xBase->as<base::RealVectorStateSpace::StateType>();
84
85 const auto *xFiber_SO2 = xFiber->as<base::CompoundState>()->as<base::SO2StateSpace::StateType>(0);
86 const auto *xFiber_RN = xFiber->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
87
88 xBundle_SE2->setX(xBase_R2->values[0]);
89 xBundle_SE2->setY(xBase_R2->values[1]);
90 xBundle_SE2->setYaw(xFiber_SO2->value);
91
92 for (unsigned int k = 0; k < getFiberDimension() - 1; k++)
93 {
94 xBundle_RN->values[k] = xFiber_RN->values[k];
95 }
96}
97
98ompl::base::StateSpacePtr Projection_SE2RN_R2::computeFiberSpace()
99{
100 unsigned int N = getDimension();
101 unsigned int Y = getBaseDimension();
102 if (N > 3 && Y != 2)
103 {
104 OMPL_ERROR("Assumed input is SE(2)xRN -> R2, but got %d -> %d dimensions.", N, Y);
105 throw Exception("Invalid Dimensionality");
106 }
107
108 base::CompoundStateSpace *Bundle_compound = getBundle()->as<base::CompoundStateSpace>();
109 const std::vector<base::StateSpacePtr> Bundle_decomposed = Bundle_compound->getSubspaces();
110 const std::vector<base::StateSpacePtr> Bundle_SE2_decomposed =
111 Bundle_decomposed.at(0)->as<base::CompoundStateSpace>()->getSubspaces();
112
113 const auto *Bundle_RN = Bundle_decomposed.at(1)->as<base::RealVectorStateSpace>();
114 unsigned int N_RN = Bundle_RN->getDimension();
115
116 base::StateSpacePtr SO2(new base::SO2StateSpace());
117 base::StateSpacePtr RN(new base::RealVectorStateSpace(N_RN));
118 RN->as<base::RealVectorStateSpace>()->setBounds(Bundle_RN->getBounds());
119
120 return SO2 + RN;
121}
The exception type for ompl.
Definition Exception.h:47
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 of a compound state.
Definition State.h:87
double * values
The value of the actual vector in Rn
A state space representing Rn. The distance function is the L2 norm.
unsigned int getDimension() const override
Get the dimension of the space (not the dimension of the surrounding ambient space)
A state space representing SO(2). The distance function and interpolation take into account angle wra...
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.
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition Console.h:64
This namespace contains datastructures and planners to exploit multilevel abstractions,...
@ PROJECTION_SE2RN_R2
SE2RN \rightarrow R2.