39#include <ompl/multilevel/datastructures/projections/Identity.h>
40#include <ompl/base/spaces/EmptyStateSpace.h>
44Projection_Identity::Projection_Identity(ompl::base::StateSpacePtr
BundleSpace, ompl::base::StateSpacePtr BaseSpace)
52 OMPL_WARN(
"Trying to project to fiber of Identity Bundle Space.");
55void Projection_Identity::project(
const ompl::base::State *xBundle, ompl::base::State *xBase)
const
57 getBundle()->copyState(xBase, xBundle);
60void Projection_Identity::lift(
const ompl::base::State *xBase,
const ompl::base::State *,
61 ompl::base::State *xBundle)
const
63 getBundle()->copyState(xBundle, xBase);
66ompl::base::StateSpacePtr Projection_Identity::computeFiberSpace()
68 return std::make_shared<base::EmptyStateSpace>();
Definition of an abstract state.
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
This namespace contains datastructures and planners to exploit multilevel abstractions,...
@ PROJECTION_IDENTITY
ompl::multilevel::Projection_Identity