MorseProjection.h

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/* Author: Caleb Voss */

#ifndef OMPL_EXTENSION_MORSE_PROJECTION_
#define OMPL_EXTENSION_MORSE_PROJECTION_

#include "ompl/extensions/morse/MorseStateSpace.h"

namespace ompl
{
    namespace base
    {
        class MorseProjection : public ProjectionEvaluator
        {
        public:
            MorseProjection(const StateSpacePtr &space);

            void setup() override;

            unsigned int getDimension() const override;

            void defaultCellSizes() override;

            void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override;

        protected:
            MorseStateSpace *space_;
        };
    }
}

#endif