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  /* 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
  