RealVectorStateProjections.cpp
58 const StateSpace *space, const std::vector<double> &cellSizes, const ProjectionMatrix::Matrix &projection)
67 const StateSpacePtr &space, const std::vector<double> &cellSizes, const ProjectionMatrix::Matrix &projection)
92 const StateSpace *space, const std::vector<double> &cellSizes, std::vector<unsigned int> components)
101 const StateSpacePtr &space, const std::vector<double> &cellSizes, std::vector<unsigned int> components)
152 void ompl::base::RealVectorLinearProjectionEvaluator::project(const State *state, EuclideanProjection &projection) const
178 ompl::base::RealVectorIdentityProjectionEvaluator::RealVectorIdentityProjectionEvaluator(const StateSpace *space)
193 ompl::base::RealVectorIdentityProjectionEvaluator::RealVectorIdentityProjectionEvaluator(const StateSpacePtr &space)
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
Definition: RealVectorStateProjections.cpp:157
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
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
Definition: RealVectorStateProjections.cpp:218
A shared pointer wrapper for ompl::base::StateSpace.
STL namespace.
void copyBounds()
Fill bounds_ with bounds from the state space.
Definition: RealVectorStateProjections.cpp:123
void setup() override
Perform configuration steps, if needed.
Definition: RealVectorStateProjections.cpp:212
void defaultCellSizes() override
Set the default cell dimensions for this projection. The default implementation of this function is e...
Definition: RealVectorStateProjections.cpp:134
void project(const State *state, EuclideanProjection &projection) const override
Compute the projection as an array of double values.
Definition: RealVectorStateProjections.cpp:223
const StateSpace * space_
The state space this projection operates on.
Definition: ProjectionEvaluator.h:267
void defaultCellSizes() override
Set the default cell dimensions for this projection. The default implementation of this function is e...
Definition: RealVectorStateProjections.cpp:204
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
A state space representing Rn. The distance function is the L2 norm.
Definition: RealVectorStateSpace.h:73
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:70
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
Definition: RealVectorStateProjections.cpp:147
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: RealVectorStateProjections.cpp:162
void project(const State *state, EuclideanProjection &projection) const override
Compute the projection as an array of double values.
Definition: RealVectorStateProjections.cpp:152
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:47
The definition of a state in Rn
Definition: RealVectorStateSpace.h:77
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
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
boost::numeric::ublas::matrix< double > Matrix
Datatype for projection matrices.
Definition: ProjectionEvaluator.h:67
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
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...
Definition: ProjectionEvaluator.h:133