RealVectorStateProjections.h
59 RealVectorLinearProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes,
64 RealVectorLinearProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes,
95 RealVectorRandomLinearProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes) :
96 RealVectorLinearProjectionEvaluator(space, cellSizes, ProjectionMatrix::ComputeRandom(space->getDimension(), cellSizes.size()))
102 RealVectorRandomLinearProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes) :
103 RealVectorLinearProjectionEvaluator(space, cellSizes, ProjectionMatrix::ComputeRandom(space->getDimension(), cellSizes.size()))
110 RealVectorLinearProjectionEvaluator(space, ProjectionMatrix::ComputeRandom(space->getDimension(), dim,
118 RealVectorLinearProjectionEvaluator(space, ProjectionMatrix::ComputeRandom(space->getDimension(), dim,
132 RealVectorOrthogonalProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes,
137 RealVectorOrthogonalProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes,
142 RealVectorOrthogonalProjectionEvaluator(const StateSpace *space, const std::vector<unsigned int> &components);
146 RealVectorOrthogonalProjectionEvaluator(const StateSpacePtr &space, const std::vector<unsigned int> &components);
171 RealVectorIdentityProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes);
175 RealVectorIdentityProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes);
RealVectorRandomLinearProjectionEvaluator(const StateSpacePtr &space, unsigned int dim)
Initialize a linear projection evaluator for state space space. The used projection matrix is sampled...
Definition: RealVectorStateProjections.h:117
virtual void defaultCellSizes()
Set the default cell dimensions for this projection. The default implementation of this function is e...
Definition: RealVectorStateProjections.cpp:198
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
Define the identity projection.
Definition: RealVectorStateProjections.h:165
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
Definition for a class computing orthogonal projections.
Definition: RealVectorStateProjections.h:126
Definition for a class computing a random linear projections.
Definition: RealVectorStateProjections.h:89
virtual void defaultCellSizes()
Set the default cell dimensions for this projection. The default implementation of this function is e...
Definition: RealVectorStateProjections.cpp:131
const RealVectorBounds & getBounds()
Get the bounds computed/set for this projection.
Definition: ProjectionEvaluator.h:217
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
RealVectorRandomLinearProjectionEvaluator(const StateSpacePtr &space, const std::vector< double > &cellSizes)
Initialize a linear projection evaluator for state space space. The used projection matrix is sampled...
Definition: RealVectorStateProjections.h:102
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
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:95
A projection matrix – it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated.
Definition: ProjectionEvaluator.h:68
virtual unsigned int getDimension() const
Return the dimension of the projection defined by this evaluator.
Definition: RealVectorStateProjections.cpp:212
RealVectorRandomLinearProjectionEvaluator(const StateSpace *space, unsigned int dim)
Initialize a linear projection evaluator for state space space. The used projection matrix is sampled...
Definition: RealVectorStateProjections.h:109
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
Definition for a class computing linear projections (multiplication of a k-by-n matrix to the the Rn ...
Definition: RealVectorStateProjections.h:53
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