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/* Author: Andreas Orthey */

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

namespace ompl
{
    namespace multilevel
    {
        /**
             @anchor EmptySet
             @par Short description
             Representation of a Fiber Bundle $X \rightarrow \emptyset$
        */
        class Projection_EmptySet : public FiberedProjection
        {
            using BaseT = FiberedProjection;

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

            ~Projection_EmptySet() 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
