SE2_R2.cpp

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/* Author: Andreas Orthey */
 
#include <ompl/multilevel/datastructures/projections/SE2_R2.h>
#include <ompl/base/spaces/SE2StateSpace.h>
#include <ompl/base/spaces/SO2StateSpace.h>
#include <ompl/base/spaces/RealVectorStateSpace.h>
 
using namespace ompl::multilevel;
 
Projection_SE2_R2::Projection_SE2_R2(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
  : BaseT(BundleSpace, BaseSpace)
{
    setType(PROJECTION_SE2_R2);
}
 
void Projection_SE2_R2::projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const
{
    const auto *xBundle_SE2 = xBundle->as<base::SE2StateSpace::StateType>();
    auto *xFiber_SO2 = xFiber->as<base::SO2StateSpace::StateType>();
    xFiber_SO2->value = xBundle_SE2->getYaw();
}
 
void Projection_SE2_R2::project(const ompl::base::State *xBundle, ompl::base::State *xBase) const
{
    const auto *xBundle_SE2 = xBundle->as<base::SE2StateSpace::StateType>();
    auto *xBase_R2 = xBase->as<base::RealVectorStateSpace::StateType>();
    xBase_R2->values[0] = xBundle_SE2->getX();
    xBase_R2->values[1] = xBundle_SE2->getY();
}
 
void Projection_SE2_R2::lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
                             ompl::base::State *xBundle) const
{
    auto *xBundle_SE2 = xBundle->as<base::SE2StateSpace::StateType>();
    const auto *xBase_R2 = xBase->as<base::RealVectorStateSpace::StateType>();
    const auto *xFiber_SO2 = xFiber->as<base::SO2StateSpace::StateType>();
 
    xBundle_SE2->setXY(xBase_R2->values[0], xBase_R2->values[1]);
    xBundle_SE2->setYaw(xFiber_SO2->value);
}
 
ompl::base::StateSpacePtr Projection_SE2_R2::computeFiberSpace()
{
    unsigned int N = getDimension();
    unsigned int Y = getBaseDimension();
    if (N != 3 && Y != 2)
    {
        OMPL_ERROR("Assumed input is SE(2) -> R2, but got %d -> %d dimensions.", N, Y);
        throw "Invalid Dimensionality";
    }
    return std::make_shared<base::SO2StateSpace>();
}