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SE2StateSpace.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/spaces/SE2StateSpace.h"
38 #include "ompl/tools/config/MagicConstants.h"
39 #include <cstring>
40 
42 {
43  StateType *state = new StateType();
44  allocStateComponents(state);
45  return state;
46 }
47 
49 {
51 }
52 
54 {
55  class SE2DefaultProjection : public ProjectionEvaluator
56  {
57  public:
58 
59  SE2DefaultProjection(const StateSpace *space) : ProjectionEvaluator(space)
60  {
61  }
62 
63  virtual unsigned int getDimension(void) const
64  {
65  return 2;
66  }
67 
68  virtual void defaultCellSizes(void)
69  {
70  cellSizes_.resize(2);
71  const RealVectorBounds &b = space_->as<SE2StateSpace>()->getBounds();
72  cellSizes_[0] = (b.high[0] - b.low[0]) / magic::PROJECTION_DIMENSION_SPLITS;
73  cellSizes_[1] = (b.high[1] - b.low[1]) / magic::PROJECTION_DIMENSION_SPLITS;
74  }
75 
76  virtual void project(const State *state, EuclideanProjection &projection) const
77  {
78  memcpy(&projection(0), state->as<SE2StateSpace::StateType>()->as<RealVectorStateSpace::StateType>(0)->values, 2 * sizeof(double));
79  }
80  };
81 
82  registerDefaultProjection(ProjectionEvaluatorPtr(dynamic_cast<ProjectionEvaluator*>(new SE2DefaultProjection(this))));
83 }