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/* Author: Andreas Orthey */

#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_SE2RN_SE2__
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLE_COMPONENT_SE2RN_SE2__
#include <ompl/multilevel/datastructures/projections/XRN_X.h>

namespace ompl
{
    namespace multilevel
    {
        class Projection_SE2RN_SE2 : public Projection_XRN_X
        {
            using BaseT = Projection_XRN_X;

        public:
            Projection_SE2RN_SE2(base::StateSpacePtr BundleSpace, base::StateSpacePtr BaseSpace);

            ~Projection_SE2RN_SE2() override = default;

            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;
        };
    }
}

#endif
