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FiberedProjection.h
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36
37/* Author: Andreas Orthey */
38
39#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_
40#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_
41#include <ompl/base/State.h>
42#include <ompl/base/StateSpaceTypes.h>
43#include <ompl/multilevel/datastructures/ProjectionTypes.h>
44#include <ompl/multilevel/datastructures/Projection.h>
45
46namespace ompl
47{
48 namespace base
49 {
51
52 OMPL_CLASS_FORWARD(SpaceInformation);
54 OMPL_CLASS_FORWARD(StateSpace);
56 }
57 namespace multilevel
58 {
59 /* \brief A bundle projection with an explicit fiber space representation
60 * which can be explicitly sampled to lift states */
62 {
63 public:
64 FiberedProjection(base::StateSpacePtr bundleSpace, base::StateSpacePtr baseSpace);
65
66 virtual ~FiberedProjection() = default;
67
68 virtual void lift(const ompl::base::State *xBase, ompl::base::State *xBundle) const override;
69
70 /* \brief Lift base space element using a fiber bundle element */
71 virtual void lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
72 ompl::base::State *xBundle) const = 0;
73
74 /* \brief Project bundle space onto fiber space */
75 virtual void projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const = 0;
76
77 /* \brief Get explicit fiber space representation */
78 virtual ompl::base::StateSpacePtr getFiberSpace() const;
79
80 /* \brief Get explicit fiber space sampler */
81 ompl::base::StateSamplerPtr getFiberSamplerPtr() const;
82
84 unsigned int getFiberDimension() const;
85 std::string getFiberTypeAsString() const;
86
87 bool isFibered() const override;
88
89 /* \brief Create explicit fiber space representation */
90 void makeFiberSpace();
91
92 protected:
93 virtual ompl::base::StateSpacePtr computeFiberSpace() = 0;
94
95 base::StateSpacePtr fiberSpace_{nullptr};
96
97 base::SpaceInformationPtr siFiberSpace_{nullptr};
98
99 base::StateSamplerPtr fiberSpaceSampler_;
100
101 // \brief A temporary state on Fiber space
102 ompl::base::State *xFiberTmp_{nullptr};
103 };
104 }
105}
106
107#endif
A shared pointer wrapper for ompl::base::StateSampler.
A shared pointer wrapper for ompl::base::StateSpace.
Definition of an abstract state.
Definition State.h:50
unsigned int getFiberDimension() const
Dimension of Fiber Space.
Main namespace. Contains everything in this library.