MorseProjection.h
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34 
35 /* Author: Caleb Voss */
36 
37 #ifndef OMPL_EXTENSION_MORSE_PROJECTION_
38 #define OMPL_EXTENSION_MORSE_PROJECTION_
39 
40 #include "ompl/extensions/morse/MorseStateSpace.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
49  {
50  public:
52  MorseProjection(const StateSpacePtr &space);
53 
55  void setup();
56 
58  virtual unsigned int getDimension() const;
59 
65  virtual void defaultCellSizes();
66 
68  virtual void project(const State *state, EuclideanProjection &projection) const;
69 
70  protected:
73  };
74  }
75 }
76 
77 #endif
MorseProjection(const StateSpacePtr &space)
Construct a projection evaluator for a specific state space.
State space representing MORSE states.
A shared pointer wrapper for ompl::base::StateSpace.
This class implements a generic projection for the MorseStateSpace, namely, the subspace representing...
virtual unsigned int getDimension() const
Return the dimension of the projection defined by this evaluator.
virtual void defaultCellSizes()
Set the default cell dimensions for this projection. The default implementation of this function sets...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
MorseStateSpace * space_
The state space this projection operates on.
void setup()
Perform configuration steps, if needed.
boost::numeric::ublas::vector< double > EuclideanProjection
The datatype for state projections. This class contains a real vector.
Definition of an abstract state.
Definition: State.h:49
virtual void project(const State *state, EuclideanProjection &projection) const
Compute the projection as an array of double values.
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...