37 #include "ompl/base/spaces/RealVectorStateProjections.h"
38 #include "ompl/util/Exception.h"
39 #include "ompl/tools/config/MagicConstants.h"
47 static inline void checkSpaceType(
const StateSpace *m)
49 if (!dynamic_cast<const RealVectorStateSpace*>(m))
50 throw Exception(
"Expected real vector state space for projection");
91 const std::vector<unsigned int> &components) :
99 const std::vector<unsigned int> &components) :
121 cellSizes_.resize(components_.size());
122 for (
unsigned int i = 0 ; i < cellSizes_.size() ; ++i)
128 return projection_.mat.size1();
138 return components_.size();
143 for (
unsigned int i = 0 ; i < components_.size() ; ++i)
176 cellSizes_.resize(getDimension());
177 for (
unsigned int i = 0 ; i < cellSizes_.size() ; ++i)
183 copySize_ = getDimension() *
sizeof(double);
189 return space_->getDimension();