Program Listing for File ProjectionFactory.h

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/* Author: Andreas Orthey */

#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_SUBSPACE_FACTORY__
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_SUBSPACE_FACTORY__
#include <ompl/multilevel/datastructures/ProjectionTypes.h>
#include <ompl/base/State.h>
#include <ompl/base/StateSpace.h>
#include <ompl/base/SpaceInformation.h>

namespace ompl
{
    namespace multilevel
    {

        OMPL_CLASS_FORWARD(Projection);
    }
    namespace multilevel
    {
        /* \brief If no projection operator is provided, you can invoke this
         * projection component factory, which tries to guess the projection
         * mapping. For example, if you specify SE3 and R3 as bundle and base,
         * this factory would return the projection onto the R3 subspace in SE3. */
        class ProjectionFactory
        {
        public:
            ProjectionFactory() = default;

            // std::vector<ProjectionPtr> MakeProjections(const base::SpaceInformationPtr &Bundle,
            //                                            const base::SpaceInformationPtr &Base);

            // std::vector<ProjectionPtr> MakeProjections(const base::SpaceInformationPtr &Bundle);

            ProjectionPtr makeProjection(const base::SpaceInformationPtr &Bundle,
                                         const base::SpaceInformationPtr &Base);

            ProjectionPtr makeProjection(const base::SpaceInformationPtr &Bundle);

            // ProjectionPtr MakeProjections(const base::SpaceInformationPtr &Bundle);

        protected:
            ProjectionPtr makeProjection(const base::StateSpacePtr &BundleSpace, const base::StateSpacePtr &BaseSpace,
                                         bool areValidityCheckersEquivalent);

            ProjectionPtr makeProjection(const base::StateSpacePtr &BundleSpace);

            ProjectionType identifyProjectionType(const base::StateSpacePtr &BundleSpace,
                                                  const base::StateSpacePtr &BaseSpace);

            bool isMapping_Identity(const base::StateSpacePtr &, const base::StateSpacePtr &);
            bool isMapping_EmptyProjection(const base::StateSpacePtr &, const base::StateSpacePtr &);
            bool isMapping_RN_to_RM(const base::StateSpacePtr &, const base::StateSpacePtr &);
            bool isMapping_SE2_to_R2(const base::StateSpacePtr &, const base::StateSpacePtr &);
            bool isMapping_SE2RN_to_R2(const base::StateSpacePtr &, const base::StateSpacePtr &);
            bool isMapping_SE2RN_to_SE2(const base::StateSpacePtr &, const base::StateSpacePtr &);
            bool isMapping_SE2RN_to_SE2RM(const base::StateSpacePtr &, const base::StateSpacePtr &);
            bool isMapping_SE3_to_R3(const base::StateSpacePtr &, const base::StateSpacePtr &);
            bool isMapping_SE3RN_to_R3(const base::StateSpacePtr &, const base::StateSpacePtr &);
            bool isMapping_SE3RN_to_SE3(const base::StateSpacePtr &, const base::StateSpacePtr &);
            bool isMapping_SE3RN_to_SE3RM(const base::StateSpacePtr &, const base::StateSpacePtr &);
            bool isMapping_SO2RN_to_SO2(const base::StateSpacePtr &, const base::StateSpacePtr &);
            bool isMapping_SO2RN_to_SO2RM(const base::StateSpacePtr &, const base::StateSpacePtr &);
            bool isMapping_SO2N_to_SO2M(const base::StateSpacePtr &, const base::StateSpacePtr &);
            bool isMapping_SO3RN_to_SO3(const base::StateSpacePtr &, const base::StateSpacePtr &);
            bool isMapping_SO3RN_to_SO3RM(const base::StateSpacePtr &, const base::StateSpacePtr &);
            bool isMapping_RNSO2_to_RN(const base::StateSpacePtr &, const base::StateSpacePtr &);

            bool isMapping_XRN_to_XRM(const base::StateSpacePtr &, const base::StateSpacePtr &,
                                      const base::StateSpaceType);

            bool isMapping_XRN_to_X(const base::StateSpacePtr &, const base::StateSpacePtr &,
                                    const base::StateSpaceType);

            int GetNumberOfComponents(const base::StateSpacePtr &space);
        };
    }
}
#endif