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
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 void project(const State *state, EuclideanProjection &projection) const
Compute the projection as an array of double values.
Definition: RealVectorStateProjections.cpp:217
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 unsigned int getDimension() const =0
Get the dimension of the space (not the dimension of the surrounding ambient space) ...
virtual unsigned int getDimension() const
Return the dimension of the projection defined by this evaluator.
Definition: RealVectorStateProjections.cpp:144
virtual void project(const State *state, EuclideanProjection &projection) const
Compute the projection as an array of double values.
Definition: RealVectorStateProjections.cpp:159
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
const RealVectorBounds & getBounds()
Get the bounds computed/set for this projection.
Definition: ProjectionEvaluator.h:217
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
virtual unsigned int getDimension() const
Return the dimension of the projection defined by this evaluator.
Definition: RealVectorStateProjections.cpp:212
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 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:149
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