37 #ifndef OMPL_BASE_SPACES_REAL_VECTOR_STATE_PROJECTIONS_
38 #define OMPL_BASE_SPACES_REAL_VECTOR_STATE_PROJECTIONS_
40 #include "ompl/base/ProjectionEvaluator.h"
41 #include "ompl/base/spaces/RealVectorStateSpace.h"
133 const std::vector<unsigned int> &components);
138 const std::vector<unsigned int> &components);
189 virtual void setup(
void);
199 std::size_t copySize_;
RealVectorRandomLinearProjectionEvaluator(const StateSpacePtr &space, unsigned int dim)
Initialize a linear projection evaluator for state space space. The used projection matrix is sampled...
RealVectorIdentityProjectionEvaluator(const StateSpace *space, const std::vector< double > &cellSizes)
Initialize the identity projection evaluator for state space space. The indices of the kept component...
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.
void copyBounds()
Fill bounds_ with bounds from the state space.
virtual unsigned int getDimension(void) const
Return the dimension of the projection defined by this evaluator.
Define the identity projection.
ProjectionMatrix projection_
The projection matrix.
virtual unsigned int getDimension(void) const
Return the dimension of the projection defined by this evaluator.
virtual void project(const State *state, EuclideanProjection &projection) const
Compute the projection as an array of double values.
Definition for a class computing orthogonal projections.
Definition for a class computing a random linear projections.
virtual void defaultCellSizes(void)
Set the default cell dimensions for this projection. The default implementation of this function is e...
A state space representing Rn. The distance function is the L2 norm.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
RealVectorRandomLinearProjectionEvaluator(const StateSpacePtr &space, const std::vector< double > &cellSizes)
Initialize a linear projection evaluator for state space space. The used projection matrix is sampled...
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition of an abstract state.
std::vector< unsigned int > components_
The set of components selected by the projection.
RealVectorRandomLinearProjectionEvaluator(const StateSpace *space, const std::vector< double > &cellSizes)
Initialize a linear projection evaluator for state space space. The used projection matrix is sampled...
A projection matrix – it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated.
RealVectorRandomLinearProjectionEvaluator(const StateSpace *space, unsigned int dim)
Initialize a linear projection evaluator for state space space. The used projection matrix is sampled...
virtual unsigned int getDimension(void) const
Return the dimension of the projection defined by this evaluator.
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...
virtual void project(const State *state, EuclideanProjection &projection) const
Compute the projection as an array of double values.
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...
virtual void setup(void)
Perform configuration steps, if needed.
const RealVectorBounds & getBounds(void)
Get the bounds computed/set for this projection.
boost::numeric::ublas::matrix< double > Matrix
Datatype for projection matrices.
virtual void defaultCellSizes(void)
Set the default cell dimensions for this projection. The default implementation of this function is e...
Definition for a class computing linear projections (multiplication of a k-by-n matrix to the the Rn ...
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...