RealVectorStateProjections.cpp
56 ompl::base::RealVectorLinearProjectionEvaluator::RealVectorLinearProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes,
65 ompl::base::RealVectorLinearProjectionEvaluator::RealVectorLinearProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes,
74 ompl::base::RealVectorLinearProjectionEvaluator::RealVectorLinearProjectionEvaluator(const StateSpace *space,
82 ompl::base::RealVectorLinearProjectionEvaluator::RealVectorLinearProjectionEvaluator(const StateSpacePtr &space,
90 ompl::base::RealVectorOrthogonalProjectionEvaluator::RealVectorOrthogonalProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes,
99 ompl::base::RealVectorOrthogonalProjectionEvaluator::RealVectorOrthogonalProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes,
108 ompl::base::RealVectorOrthogonalProjectionEvaluator::RealVectorOrthogonalProjectionEvaluator(const StateSpace *space, const std::vector<unsigned int> &components) :
114 ompl::base::RealVectorOrthogonalProjectionEvaluator::RealVectorOrthogonalProjectionEvaluator(const StateSpacePtr &space, const std::vector<unsigned int> &components) :
149 void ompl::base::RealVectorLinearProjectionEvaluator::project(const State *state, EuclideanProjection &projection) const
159 void ompl::base::RealVectorOrthogonalProjectionEvaluator::project(const State *state, EuclideanProjection &projection) const
165 ompl::base::RealVectorIdentityProjectionEvaluator::RealVectorIdentityProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes) :
173 ompl::base::RealVectorIdentityProjectionEvaluator::RealVectorIdentityProjectionEvaluator(const StateSpace *space) :
179 ompl::base::RealVectorIdentityProjectionEvaluator::RealVectorIdentityProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes) :
187 ompl::base::RealVectorIdentityProjectionEvaluator::RealVectorIdentityProjectionEvaluator(const StateSpacePtr &space) :
217 void ompl::base::RealVectorIdentityProjectionEvaluator::project(const State *state, EuclideanProjection &projection) const
virtual void defaultCellSizes()
Set the default cell dimensions for this projection. The default implementation of this function is e...
Definition: RealVectorStateProjections.cpp:198
void resize(std::size_t size)
Change the number of dimensions for the bounds.
Definition: RealVectorBounds.cpp:83
std::vector< double > cellSizes_
The size of a cell, in every dimension of the projected space, in the implicitly defined integer grid...
Definition: ProjectionEvaluator.h:268
virtual unsigned int getDimension() const
Return the dimension of the projection defined by this evaluator.
Definition: RealVectorStateProjections.cpp:144
RealVectorIdentityProjectionEvaluator(const StateSpace *space, const std::vector< double > &cellSizes)
Initialize the identity projection evaluator for state space space. The indices of the kept component...
Definition: RealVectorStateProjections.cpp:165
A boost shared pointer wrapper for ompl::base::StateSpace.
virtual unsigned int getDimension() const =0
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
void copyBounds()
Fill bounds_ with bounds from the state space.
Definition: RealVectorStateProjections.cpp:120
virtual void setup()
Perform configuration steps, if needed.
Definition: RealVectorStateProjections.cpp:206
virtual void defaultCellSizes()
Set the default cell dimensions for this projection. The default implementation of this function is e...
Definition: RealVectorStateProjections.cpp:131
const StateSpace * space_
The state space this projection operates on.
Definition: ProjectionEvaluator.h:263
virtual void project(const State *state, EuclideanProjection &projection) const
Compute the projection as an array of double values.
Definition: RealVectorStateProjections.cpp:149
const RealVectorBounds & getBounds()
Get the bounds computed/set for this projection.
Definition: ProjectionEvaluator.h:217
virtual unsigned int getDimension() const
Return the dimension of the projection defined by this evaluator.
Definition: RealVectorStateProjections.cpp:212
static const double PROJECTION_DIMENSION_SPLITS
When the cell sizes for a projection are automatically computed, this value defines the number of par...
Definition: MagicConstants.h:57
A state space representing Rn. The distance function is the L2 norm.
Definition: RealVectorStateSpace.h:75
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition: ProjectionEvaluator.h:62
std::vector< unsigned int > components_
The set of components selected by the projection.
Definition: RealVectorStateProjections.h:160
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:48
The definition of a state in Rn
Definition: RealVectorStateSpace.h:80
virtual void project(const State *state, EuclideanProjection &projection) const
Compute the projection as an array of double values.
Definition: RealVectorStateProjections.cpp:159
virtual void setCellSizes(const std::vector< double > &cellSizes)
Define the size (in each dimension) of a grid cell. The number of sizes set here must be the same as ...
Definition: ProjectionEvaluator.cpp:152
RealVectorLinearProjectionEvaluator(const StateSpace *space, const std::vector< double > &cellSizes, const ProjectionMatrix::Matrix &projection)
Initialize a linear projection evaluator for state space space. The used projection matrix is project...
Definition: RealVectorStateProjections.cpp:56
virtual void project(const State *state, EuclideanProjection &projection) const
Compute the projection as an array of double values.
Definition: RealVectorStateProjections.cpp:217
RealVectorOrthogonalProjectionEvaluator(const StateSpace *space, const std::vector< double > &cellSizes, const std::vector< unsigned int > &components)
Initialize an orthogonal projection evaluator for state space space. The indices of the kept componen...
Definition: RealVectorStateProjections.cpp:90
boost::numeric::ublas::matrix< double > Matrix
Datatype for projection matrices.
Definition: ProjectionEvaluator.h:73
RealVectorBounds bounds_
A bounding box for projected state values.
Definition: ProjectionEvaluator.h:271
virtual unsigned int getDimension() const
Return the dimension of the projection defined by this evaluator.
Definition: RealVectorStateProjections.cpp:154
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
Definition: ProjectionEvaluator.h:138