RealVectorStateProjections.h
57 RealVectorLinearProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes,
62 RealVectorLinearProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes,
67 RealVectorLinearProjectionEvaluator(const StateSpace *space, const ProjectionMatrix::Matrix &projection);
71 RealVectorLinearProjectionEvaluator(const StateSpacePtr &space, const ProjectionMatrix::Matrix &projection);
88 RealVectorRandomLinearProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes)
96 RealVectorRandomLinearProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes)
131 RealVectorOrthogonalProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes,
136 RealVectorOrthogonalProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes,
142 RealVectorOrthogonalProjectionEvaluator(const StateSpace *space, std::vector<unsigned int> components);
147 RealVectorOrthogonalProjectionEvaluator(const StateSpacePtr &space, std::vector<unsigned int> components);
169 RealVectorIdentityProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes);
173 RealVectorIdentityProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes);
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:134
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
Definition: RealVectorStateProjections.cpp:147
void project(const State *state, EuclideanProjection &projection) const override
Compute the projection as an array of double values.
Definition: RealVectorStateProjections.cpp:223
Definition for a class computing linear projections (multiplication of a k-by-n matrix to the the Rn ...
Definition: RealVectorStateProjections.h:116
void project(const State *state, EuclideanProjection &projection) const override
Compute the projection as an array of double values.
Definition: RealVectorStateProjections.cpp:162
A projection matrix – it allows multiplication of real vectors by a specified matrix....
Definition: ProjectionEvaluator.h:127
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:57
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
Definition: RealVectorStateProjections.cpp:218
void defaultCellSizes() override
Set the default cell dimensions for this projection. The default implementation of this function is e...
Definition: RealVectorStateProjections.cpp:204
A state space representing Rn. The distance function is the L2 norm.
Definition: RealVectorStateSpace.h:137
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
Definition: ProjectionEvaluator.h:197
const RealVectorBounds & getBounds() const
Get the bounds computed/set for this projection.
Definition: ProjectionEvaluator.h:285
RealVectorRandomLinearProjectionEvaluator(const StateSpace *space, const std::vector< double > &cellSizes)
Initialize a linear projection evaluator for state space space. The used projection matrix is sampled...
Definition: RealVectorStateProjections.h:152
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
Definition: RealVectorStateProjections.cpp:157
void setup() override
Perform configuration steps, if needed.
Definition: RealVectorStateProjections.cpp:212
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition: ProjectionEvaluator.h:123
void project(const State *state, EuclideanProjection &projection) const override
Compute the projection as an array of double values.
Definition: RealVectorStateProjections.cpp:152
void defaultCellSizes() override
Set the default cell dimensions for this projection. The default implementation of this function is e...
Definition: RealVectorStateProjections.cpp:134
std::vector< unsigned int > components_
The set of components selected by the projection.
Definition: RealVectorStateProjections.h:224
A shared pointer wrapper for ompl::base::StateSpace.
RealVectorOrthogonalProjectionEvaluator(const StateSpace *space, const std::vector< double > &cellSizes, std::vector< unsigned int > components)
Initialize an orthogonal projection evaluator for state space space. The indices of the kept componen...
Definition: RealVectorStateProjections.cpp:91
boost::numeric::ublas::matrix< double > Matrix
Datatype for projection matrices.
Definition: ProjectionEvaluator.h:131
void copyBounds()
Fill bounds_ with bounds from the state space.
Definition: RealVectorStateProjections.cpp:123
Define the identity projection.
Definition: RealVectorStateProjections.h:228
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:169