DynamicTimeWarp.h
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2014, JSK, The University of Tokyo.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of the JSK, The University of Tokyo nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Dave Coleman
36  Desc: Compute Dynamic Time Warping
37 */
38 
39 #ifndef OMPL_TOOLS_LIGHTNING_DYNAMIC_TIME_WARP_
40 #define OMPL_TOOLS_LIGHTNING_DYNAMIC_TIME_WARP_
41 
42 #include <ompl/geometric/PathGeometric.h>
43 #include <ompl/base/SpaceInformation.h>
44 
45 #include <boost/numeric/ublas/matrix.hpp>
46 
47 namespace ompl
48 {
49  namespace tools
50  {
51  namespace og = ompl::geometric;
52 
54  OMPL_CLASS_FORWARD(DynamicTimeWarp);
56 
61  {
62  public:
64 
71  double calcDTWDistance(const og::PathGeometric &path1, const og::PathGeometric &path2) const;
72 
82  double getPathsScore(const og::PathGeometric &path1, const og::PathGeometric &path2) const;
83 
84  private:
87 
89  mutable boost::numeric::ublas::matrix<double> table_;
90 
91  }; // end of class
92 
93  } // namespace
94 } // namespace
95 
96 #endif
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
double getPathsScore(const og::PathGeometric &path1, const og::PathGeometric &path2) const
Use dynamic time warping to compare the similarity of two paths Note: this will interpolate both of t...
double calcDTWDistance(const og::PathGeometric &path1, const og::PathGeometric &path2) const
Use Dynamic Timewarping to score two paths.
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of a geometric path.
Definition: PathGeometric.h:60
This namespace contains code that is specific to planning under geometric constraints.
Definition: GeneticSearch.h:47