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XRN_XRM_SE3.cpp
53void Projection_SE3RN_SE3RM::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
55 const auto *xBundle_SE3 = xBundle->as<base::CompoundState>()->as<base::SE3StateSpace::StateType>(0);
57 const auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
75void Projection_SE3RN_SE3RM::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
80 auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
84 const auto *xBase_RM = xBase->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
The definition of a state in Rn
Definition RealVectorStateSpace.h:78
A shared pointer wrapper for ompl::base::StateSpace.
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Definition MultiLevelPlanarManipulatorDemo.cpp:68