All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator
ProjectionEvaluator.h
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2010, Rice University
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Rice University nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_PROJECTION_EVALUATOR_
00038 #define OMPL_BASE_PROJECTION_EVALUATOR_
00039 
00040 #include "ompl/base/State.h"
00041 #include "ompl/util/ClassForward.h"
00042 #include "ompl/util/Console.h"
00043 #include <vector>
00044 #include <valarray>
00045 #include <iostream>
00046 #include <boost/noncopyable.hpp>
00047 #include <boost/numeric/ublas/matrix.hpp>
00048 
00049 namespace ompl
00050 {
00051 
00052     namespace base
00053     {
00054 
00056         typedef std::vector<int> ProjectionCoordinates;
00057 
00059         typedef boost::numeric::ublas::vector<double> EuclideanProjection;
00060 
00061 
00065         class ProjectionMatrix
00066         {
00067         public:
00068 
00070             typedef boost::numeric::ublas::matrix<double> Matrix;
00071 
00087             static Matrix ComputeRandom(const unsigned int from, const unsigned int to, const std::vector<double> &scale);
00088 
00097             static Matrix ComputeRandom(const unsigned int from, const unsigned int to);
00098 
00100             void computeRandom(const unsigned int from, const unsigned int to, const std::vector<double> &scale);
00101 
00103             void computeRandom(const unsigned int from, const unsigned int to);
00104 
00106             void project(const double *from, EuclideanProjection& to) const;
00107 
00109             void print(std::ostream &out = std::cout) const;
00110 
00112             Matrix mat;
00113         };
00114 
00115         ClassForward(StateSpace);
00116 
00118         ClassForward(ProjectionEvaluator);
00119 
00129         class ProjectionEvaluator : private boost::noncopyable
00130         {
00131         public:
00132 
00134             ProjectionEvaluator(const StateSpace *space) : space_(space), defaultCellSizes_(true), cellSizesWereInferred_(false)
00135             {
00136             }
00137 
00139             ProjectionEvaluator(const StateSpacePtr &space) : space_(space.get()), defaultCellSizes_(true), cellSizesWereInferred_(false)
00140             {
00141             }
00142 
00143             virtual ~ProjectionEvaluator(void)
00144             {
00145             }
00146 
00148             virtual unsigned int getDimension(void) const = 0;
00149 
00151             virtual void project(const State *state, EuclideanProjection &projection) const = 0;
00152 
00160             void setCellSizes(const std::vector<double> &cellSizes);
00161 
00163             bool userConfigured(void) const;
00164 
00166             const std::vector<double>& getCellSizes(void) const
00167             {
00168                 return cellSizes_;
00169             }
00170 
00172             void checkCellSizes(void) const;
00173 
00179             void inferCellSizes(void);
00180 
00185             virtual void defaultCellSizes(void);
00186 
00188             virtual void setup(void);
00189 
00191             void computeCoordinates(const EuclideanProjection &projection, ProjectionCoordinates &coord) const;
00192 
00194             void computeCoordinates(const State *state, ProjectionCoordinates &coord) const
00195             {
00196                 EuclideanProjection projection(getDimension());
00197                 project(state, projection);
00198                 computeCoordinates(projection, coord);
00199             }
00200 
00202             virtual void printSettings(std::ostream &out = std::cout) const;
00203 
00205             virtual void printProjection(const EuclideanProjection &projection, std::ostream &out = std::cout) const;
00206 
00207         protected:
00208 
00210             const StateSpace    *space_;
00211 
00215             std::vector<double>  cellSizes_;
00216 
00221             bool                 defaultCellSizes_;
00222 
00225             bool                 cellSizesWereInferred_;
00226 
00228             msg::Interface       msg_;
00229         };
00230 
00231     }
00232 
00233 }
00234 
00235 #endif