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ProjectionFactory.cpp
100ProjectionPtr ProjectionFactory::makeProjection(const SpaceInformationPtr &Bundle, const SpaceInformationPtr &Base)
117 OMPL_ERROR("Base Space has %d, but Bundle Space has %d components.", baseSpaceComponents, nrProjections);
150 ProjectionPtr component = makeProjection(Bundle_space, Base_space, areValidityCheckersEquivalent);
160ProjectionPtr ProjectionFactory::makeProjection(const StateSpacePtr &Bundle, const StateSpacePtr &Base,
260ProjectionType ProjectionFactory::identifyProjectionType(const StateSpacePtr &Bundle, const StateSpacePtr &Base)
351bool ProjectionFactory::isMapping_Identity(const StateSpacePtr &Bundle, const StateSpacePtr &Base)
385bool ProjectionFactory::isMapping_RN_to_RM(const StateSpacePtr &Bundle, const StateSpacePtr &Base)
405bool ProjectionFactory::isMapping_SE3_to_R3(const StateSpacePtr &Bundle, const StateSpacePtr &Base)
422bool ProjectionFactory::isMapping_SE3RN_to_R3(const StateSpacePtr &Bundle, const StateSpacePtr &Base)
448bool ProjectionFactory::isMapping_SE2_to_R2(const StateSpacePtr &Bundle, const StateSpacePtr &Base)
466bool ProjectionFactory::isMapping_RNSO2_to_RN(const StateSpacePtr &Bundle, const StateSpacePtr &Base)
493bool ProjectionFactory::isMapping_SE2RN_to_R2(const StateSpacePtr &Bundle, const StateSpacePtr &Base)
519bool ProjectionFactory::isMapping_SE2RN_to_SE2(const StateSpacePtr &Bundle, const StateSpacePtr &Base)
524bool ProjectionFactory::isMapping_SE3RN_to_SE3(const StateSpacePtr &Bundle, const StateSpacePtr &Base)
529bool ProjectionFactory::isMapping_SO2RN_to_SO2(const StateSpacePtr &Bundle, const StateSpacePtr &Base)
534bool ProjectionFactory::isMapping_SO3RN_to_SO3(const StateSpacePtr &Bundle, const StateSpacePtr &Base)
539bool ProjectionFactory::isMapping_SE2RN_to_SE2RM(const StateSpacePtr &Bundle, const StateSpacePtr &Base)
544bool ProjectionFactory::isMapping_SE3RN_to_SE3RM(const StateSpacePtr &Bundle, const StateSpacePtr &Base)
549bool ProjectionFactory::isMapping_SO2RN_to_SO2RM(const StateSpacePtr &Bundle, const StateSpacePtr &Base)
554bool ProjectionFactory::isMapping_SO3RN_to_SO3RM(const StateSpacePtr &Bundle, const StateSpacePtr &Base)
559bool ProjectionFactory::isMapping_SO2N_to_SO2M(const StateSpacePtr &Bundle, const StateSpacePtr &Base)
600bool ProjectionFactory::isMapping_XRN_to_X(const StateSpacePtr &Bundle, const StateSpacePtr &Base,
623bool ProjectionFactory::isMapping_XRN_to_XRM(const StateSpacePtr &Bundle, const StateSpacePtr &Base,
659bool ProjectionFactory::isMapping_EmptyProjection(const StateSpacePtr &, const StateSpacePtr &Base)
A space to allow the composition of state spaces.
Definition StateSpace.h:574
unsigned int getSubspaceCount() const
Get the number of state spaces that make up the compound state space.
Definition StateSpace.cpp:904
const std::vector< StateSpacePtr > & getSubspaces() const
Get the list of components.
Definition StateSpace.cpp:978
T * as(const unsigned int index) const
Cast a component of this instance to a desired type.
Definition StateSpace.h:590
A shared pointer wrapper for ompl::base::SpaceInformation.
A shared pointer wrapper for ompl::base::StateSpace.
bool isMapping_SE2_to_R2(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
Definition ProjectionFactory.cpp:448
bool isMapping_SO3RN_to_SO3RM(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
Definition ProjectionFactory.cpp:554
bool isMapping_SE3RN_to_SE3RM(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
Definition ProjectionFactory.cpp:544
bool isMapping_SE3_to_R3(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
Definition ProjectionFactory.cpp:405
bool isMapping_SO2RN_to_SO2RM(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
Definition ProjectionFactory.cpp:549
bool isMapping_EmptyProjection(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if the mapping is an empty projection.
Definition ProjectionFactory.cpp:659
bool isMapping_SE2RN_to_SE2(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
Definition ProjectionFactory.cpp:519
int GetNumberOfComponents(const base::StateSpacePtr &space)
Estimate number of components on state space.
Definition ProjectionFactory.cpp:668
bool isMapping_SE2RN_to_SE2RM(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
Definition ProjectionFactory.cpp:539
bool isMapping_SO2RN_to_SO2(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
Definition ProjectionFactory.cpp:529
ProjectionType identifyProjectionType(const base::StateSpacePtr &BundleSpace, const base::StateSpacePtr &BaseSpace)
Guess the projection type from the list of projections in ompl::multilevel::ProjectionTypes.
Definition ProjectionFactory.cpp:260
bool isMapping_RNSO2_to_RN(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
Definition ProjectionFactory.cpp:466
bool isMapping_XRN_to_X(const base::StateSpacePtr &, const base::StateSpacePtr &, const base::StateSpaceType)
Check if mapping is to whereby .
Definition ProjectionFactory.cpp:600
bool isMapping_Identity(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if the mapping is an identity mapping.
Definition ProjectionFactory.cpp:351
bool isMapping_SO3RN_to_SO3(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
Definition ProjectionFactory.cpp:534
bool isMapping_RN_to_RM(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
Definition ProjectionFactory.cpp:385
bool isMapping_XRN_to_XRM(const base::StateSpacePtr &, const base::StateSpacePtr &, const base::StateSpaceType)
Check if mapping is to whereby .
Definition ProjectionFactory.cpp:623
bool isMapping_SE3RN_to_R3(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
Definition ProjectionFactory.cpp:422
ProjectionPtr makeProjection(const base::SpaceInformationPtr &Bundle, const base::SpaceInformationPtr &Base)
Guess projection(s) between two SpaceInformationPtr Bundle and Base.
bool isMapping_SE3RN_to_SE3(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
Definition ProjectionFactory.cpp:524
bool isMapping_SO2N_to_SO2M(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
Definition ProjectionFactory.cpp:559
bool isMapping_SE2RN_to_R2(const base::StateSpacePtr &, const base::StateSpacePtr &)
Check if mapping is to .
Definition ProjectionFactory.cpp:493
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Definition MultiLevelPlanarManipulatorDemo.cpp:68
@ PROJECTION_SO2N_SO2M
SO2N \rightarrow SO2M (N copies of SO2 onto M copies of SO2)
Definition ProjectionTypes.h:103
@ PROJECTION_CONSTRAINED_RELAXATION
ompl::multilevel::Projection_Relaxation
Definition ProjectionTypes.h:58