/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2020,
 *  Max Planck Institute for Intelligent Systems (MPI-IS).
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the MPI-IS nor the names
 *     of its contributors may be used to endorse or promote products
 *     derived from this software without specific prior written
 *     permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Andreas Orthey */

#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_SO2N_SO2M__
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_SO2N_SO2M__
#include <ompl/multilevel/datastructures/projections/FiberedProjection.h>

namespace ompl
{
    namespace multilevel
    {
        class Projection_SO2N_SO2M : public FiberedProjection
        {
            using BaseT = FiberedProjection;

        public:
            Projection_SO2N_SO2M(base::StateSpacePtr BundleSpace, base::StateSpacePtr BaseSpace);

            ~Projection_SO2N_SO2M() override = default;

            virtual void projectFiber(const ompl::base::State *xBundle, ompl::base::State *xFiber) const override;

            virtual void project(const ompl::base::State *xBundle, ompl::base::State *xBase) const override;

            virtual void lift(const ompl::base::State *xBase, const ompl::base::State *xFiber,
                              ompl::base::State *xBundle) const override;

        protected:
            ompl::base::StateSpacePtr computeFiberSpace() override;
        };
    }
}

#endif
