Loading...
Searching...
No Matches
XRN_X.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.h>
40#include <ompl/base/spaces/RealVectorStateSpace.h>
41#include <ompl/util/Exception.h>
42
43using namespace ompl::multilevel;
44
45Projection_XRN_X::Projection_XRN_X(ompl::base::StateSpacePtr BundleSpace, ompl::base::StateSpacePtr BaseSpace)
46 : BaseT(BundleSpace, BaseSpace)
47{
48}
49
50void Projection_XRN_X::projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const
51{
52 const auto *xBundle_RN = xBundle->as<base::CompoundState>()->as<base::RealVectorStateSpace::StateType>(1);
53 auto *xFiber_RN = xFiber->as<base::RealVectorStateSpace::StateType>();
54
55 for (unsigned int k = 0; k < getFiberDimension(); k++)
56 {
57 xFiber_RN->values[k] = xBundle_RN->values[k];
58 }
59}
60
61ompl::base::StateSpacePtr Projection_XRN_X::computeFiberSpace()
62{
63 base::CompoundStateSpace *Bundle_compound = getBundle()->as<base::CompoundStateSpace>();
64 const std::vector<base::StateSpacePtr> Bundle_decomposed = Bundle_compound->getSubspaces();
65
66 const auto *Bundle_RN = Bundle_decomposed.at(1)->as<base::RealVectorStateSpace>();
67
68 unsigned int N = Bundle_RN->getDimension();
69
70 base::StateSpacePtr RN = std::make_shared<base::RealVectorStateSpace>(N);
71 std::static_pointer_cast<base::RealVectorStateSpace>(RN)->setBounds(Bundle_RN->getBounds());
72 return RN;
73}
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 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,...