ProjectionEvaluator.cpp
51 ompl::base::ProjectionMatrix::Matrix ompl::base::ProjectionMatrix::ComputeRandom(const unsigned int from,
99 ompl::base::ProjectionMatrix::Matrix ompl::base::ProjectionMatrix::ComputeRandom(const unsigned int from,
105 void ompl::base::ProjectionMatrix::computeRandom(const unsigned int from, const unsigned int to,
111 void ompl::base::ProjectionMatrix::computeRandom(const unsigned int from, const unsigned int to)
131 : space_(space), bounds_(0), estimatedBounds_(0), defaultCellSizes_(true), cellSizesWereInferred_(false)
140 : space_(space.get()), bounds_(0), estimatedBounds_(0), defaultCellSizes_(true), cellSizesWereInferred_(false)
205 throw Exception("Number of dimensions in projection space does not match number of cell sizes");
293 OMPL_WARN("Inferred cell size for dimension %u of a projection for state space %s is 0. Setting arbitrary "
353 void ompl::base::ProjectionEvaluator::printProjection(const EuclideanProjection &projection, std::ostream &out) const
358 ompl::base::SubspaceProjectionEvaluator::SubspaceProjectionEvaluator(const StateSpace *space, unsigned int index,
363 throw Exception("Cannot construct a subspace projection evaluator for a space that is not compound");
387 void ompl::base::SubspaceProjectionEvaluator::project(const State *state, EuclideanProjection &projection) const
unsigned int getSubspaceCount() const
Get the number of state spaces that make up the compound state space.
ProjectionEvaluatorPtr getDefaultProjection() const
Get the default projection.
double gaussian01()
Generate a random real using a normal distribution with mean 0 and variance 1.
Definition: RandomNumbers.h:94
void print(std::ostream &out=std::cout) const
Print the contained projection matrix to a stram.
Definition: ProjectionEvaluator.cpp:125
void computeRandom(unsigned int from, unsigned int to, const std::vector< double > &scale)
Wrapper for ComputeRandom(from, to, scale)
Definition: ProjectionEvaluator.cpp:105
A shared pointer wrapper for ompl::base::StateSpace.
A shared pointer wrapper for ompl::base::StateSampler.
void checkBounds() const
Check if the projection dimension matched the dimension of the bounds.
Definition: ProjectionEvaluator.cpp:208
void inferBounds()
Compute an approximation of the bounds for this projection space. getBounds() will then report the co...
Definition: ProjectionEvaluator.cpp:236
STL namespace.
SubspaceProjectionEvaluator(const StateSpace *space, unsigned int index, ProjectionEvaluatorPtr projToUse=ProjectionEvaluatorPtr())
The constructor states that for space space, the projection to use is the same as the component at po...
Definition: ProjectionEvaluator.cpp:358
void inferCellSizes()
Sample the state space and decide on default cell sizes. This function is called by setup() if no cel...
Definition: ProjectionEvaluator.cpp:280
static const double PROJECTION_EXPAND_FACTOR
When a bounding box of projected states cannot be inferred, it will be estimated by sampling states...
Definition: MagicConstants.h:66
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
Definition: ProjectionEvaluator.cpp:382
const std::vector< double > & getCellSizes() const
Get the size (each dimension) of a grid cell.
Definition: ProjectionEvaluator.h:182
const StateSpace * space_
The state space this projection operates on.
Definition: ProjectionEvaluator.h:267
static const unsigned int PROJECTION_EXTENTS_SAMPLES
When no cell sizes are specified for a projection, they are inferred like so:
Definition: MagicConstants.h:60
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
virtual void defaultCellSizes()
Set the default cell dimensions for this projection. The default implementation of this function is e...
Definition: ProjectionEvaluator.cpp:215
A space to allow the composition of state spaces.
Definition: StateSpace.h:573
unsigned int index_
The index of the subspace from which to project.
Definition: ProjectionEvaluator.h:320
virtual bool isCompound() const
Check if the state space is compound.
void mulCellSizes(double factor)
Multiply the cell sizes in each dimension by a specified factor factor. This function does nothing if...
Definition: ProjectionEvaluator.cpp:189
A shared pointer wrapper for ompl::base::ProjectionEvaluator.
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:55
std::vector< int > ProjectionCoordinates
Grid cells corresponding to a projection value are described in terms of their coordinates.
Definition: ProjectionEvaluator.h:56
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:70
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition: ProjectionEvaluator.h:59
void project(const State *state, EuclideanProjection &projection) const override
Compute the projection as an array of double values.
Definition: ProjectionEvaluator.cpp:387
void declareParam(const std::string &name, const typename SpecificParam< T >::SetterFn &setter, const typename SpecificParam< T >::GetterFn &getter=typename SpecificParam< T >::GetterFn())
This function declares a parameter name, and specifies the setter and getter functions.
Definition: GenericParam.h:232
virtual void printProjection(const EuclideanProjection &projection, std::ostream &out=std::cout) const
Print a euclidean projection.
Definition: ProjectionEvaluator.cpp:353
void project(const double *from, EuclideanProjection &to) const
Multiply the vector from by the contained projection matrix to obtain the vector to.
Definition: ProjectionEvaluator.cpp:116
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:47
void estimateBounds()
Fill estimatedBounds_ with an approximate bounding box for the projection space (via sampling) ...
Definition: ProjectionEvaluator.cpp:243
void setBounds(const RealVectorBounds &bounds)
Set bounds on the projection. The PDST planner needs to known the bounds on the projection. Default bounds are automatically computed by inferCellSizes().
Definition: ProjectionEvaluator.cpp:163
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:155
void computeCoordinates(const EuclideanProjection &projection, ProjectionCoordinates &coord) const
Compute integer coordinates for a projection.
Definition: ProjectionEvaluator.cpp:324
virtual void printSettings(std::ostream &out=std::cout) const
Print settings about this projection.
Definition: ProjectionEvaluator.cpp:330
boost::numeric::ublas::matrix< double > Matrix
Datatype for projection matrices.
Definition: ProjectionEvaluator.h:67
bool userConfigured() const
Return true if any user configuration has been done to this projection evaluator (setCellSizes() was ...
Definition: ProjectionEvaluator.cpp:150
void checkCellSizes() const
Check if cell dimensions match projection dimension.
Definition: ProjectionEvaluator.cpp:200
void setup() override
Perform configuration steps, if needed.
Definition: ProjectionEvaluator.cpp:369
static Matrix ComputeRandom(unsigned int from, unsigned int to, const std::vector< double > &scale)
Compute a random projection matrix with from columns and to rows. A vector with from elements can be ...
Definition: ProjectionEvaluator.cpp:51
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
Definition: ProjectionEvaluator.h:133