RealVectorStateProjections.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/spaces/RealVectorStateProjections.h"
38 #include "ompl/util/Exception.h"
39 #include "ompl/tools/config/MagicConstants.h"
40 #include <cstring>
41 #include <utility>
42 
44 namespace ompl
45 {
46  namespace base
47  {
48  static inline void checkSpaceType(const StateSpace *m)
49  {
50  if (dynamic_cast<const RealVectorStateSpace *>(m) == nullptr)
51  throw Exception("Expected real vector state space for projection");
52  }
53  } // namespace base
54 } // namespace ompl
56 
58  const StateSpace *space, const std::vector<double> &cellSizes, const ProjectionMatrix::Matrix &projection)
59  : ProjectionEvaluator(space)
60 {
61  checkSpaceType(space_);
62  projection_.mat = projection;
63  setCellSizes(cellSizes);
64 }
65 
67  const StateSpacePtr &space, const std::vector<double> &cellSizes, const ProjectionMatrix::Matrix &projection)
68  : ProjectionEvaluator(space)
69 {
70  checkSpaceType(space_);
71  projection_.mat = projection;
72  setCellSizes(cellSizes);
73 }
74 
76  const StateSpace *space, const ProjectionMatrix::Matrix &projection)
77  : ProjectionEvaluator(space)
78 {
79  checkSpaceType(space_);
80  projection_.mat = projection;
81 }
82 
84  const StateSpacePtr &space, const ProjectionMatrix::Matrix &projection)
85  : ProjectionEvaluator(space)
86 {
87  checkSpaceType(space_);
88  projection_.mat = projection;
89 }
90 
92  const StateSpace *space, const std::vector<double> &cellSizes, std::vector<unsigned int> components)
93  : ProjectionEvaluator(space), components_(std::move(components))
94 {
95  checkSpaceType(space_);
96  setCellSizes(cellSizes);
97  copyBounds();
98 }
99 
101  const StateSpacePtr &space, const std::vector<double> &cellSizes, std::vector<unsigned int> components)
102  : ProjectionEvaluator(space), components_(std::move(components))
103 {
104  checkSpaceType(space_);
105  setCellSizes(cellSizes);
106  copyBounds();
107 }
108 
110  const StateSpace *space, std::vector<unsigned int> components)
111  : ProjectionEvaluator(space), components_(std::move(components))
112 {
113  checkSpaceType(space_);
114 }
115 
117  const StateSpacePtr &space, std::vector<unsigned int> components)
118  : ProjectionEvaluator(space), components_(std::move(components))
119 {
120  checkSpaceType(space_);
121 }
122 
124 {
125  bounds_.resize(components_.size());
126  const RealVectorBounds &bounds = space_->as<RealVectorStateSpace>()->getBounds();
127  for (unsigned int i = 0; i < components_.size(); ++i)
128  {
129  bounds_.low[i] = bounds.low[components_[i]];
130  bounds_.high[i] = bounds.high[components_[i]];
131  }
132 }
133 
135 {
136  const RealVectorBounds &bounds = space_->as<RealVectorStateSpace>()->getBounds();
137  bounds_.resize(components_.size());
138  cellSizes_.resize(components_.size());
139  for (unsigned int i = 0; i < cellSizes_.size(); ++i)
140  {
141  bounds_.low[i] = bounds.low[components_[i]];
142  bounds_.high[i] = bounds.high[components_[i]];
143  cellSizes_[i] = (bounds_.high[i] - bounds_.low[i]) / magic::PROJECTION_DIMENSION_SPLITS;
144  }
145 }
146 
148 {
149  return projection_.mat.rows();
150 }
151 
153  Eigen::Ref<Eigen::VectorXd> projection) const
154 {
155  projection_.project(state->as<RealVectorStateSpace::StateType>()->values, projection);
156 }
157 
159 {
160  return components_.size();
161 }
162 
164  Eigen::Ref<Eigen::VectorXd> projection) const
165 {
166  for (unsigned int i = 0; i < components_.size(); ++i)
167  projection(i) = state->as<RealVectorStateSpace::StateType>()->values[components_[i]];
168 }
169 
171  const StateSpace *space, const std::vector<double> &cellSizes)
172  : ProjectionEvaluator(space)
173 {
174  checkSpaceType(space_);
175  setCellSizes(cellSizes);
176  copyBounds();
177 }
178 
180  : ProjectionEvaluator(space)
181 {
182  checkSpaceType(space_);
183 }
184 
186  const StateSpacePtr &space, const std::vector<double> &cellSizes)
187  : ProjectionEvaluator(space)
188 {
189  checkSpaceType(space_);
190  setCellSizes(cellSizes);
191  copyBounds();
192 }
193 
195  : ProjectionEvaluator(space)
196 {
197  checkSpaceType(space_);
198 }
199 
200 void ompl::base::RealVectorIdentityProjectionEvaluator::copyBounds()
201 {
202  bounds_ = space_->as<RealVectorStateSpace>()->getBounds();
203 }
204 
206 {
207  bounds_ = space_->as<RealVectorStateSpace>()->getBounds();
208  cellSizes_.resize(getDimension());
209  for (unsigned int i = 0; i < cellSizes_.size(); ++i)
210  cellSizes_[i] = (bounds_.high[i] - bounds_.low[i]) / magic::PROJECTION_DIMENSION_SPLITS;
211 }
212 
214 {
215  copySize_ = getDimension() * sizeof(double);
217 }
218 
220 {
221  return space_->getDimension();
222 }
223 
225  Eigen::Ref<Eigen::VectorXd> projection) const
226 {
227  projection = Eigen::Map<const Eigen::VectorXd>(state->as<RealVectorStateSpace::StateType>()->values, copySize_);
228 }
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
RealVectorIdentityProjectionEvaluator(const StateSpace *space, const std::vector< double > &cellSizes)
Initialize the identity projection evaluator for state space space. The indices of the kept component...
void project(const State *state, Eigen::Ref< Eigen::VectorXd > projection) const override
Compute the projection as an array of double values.
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
A shared pointer wrapper for ompl::base::StateSpace.
STL namespace.
void copyBounds()
Fill bounds_ with bounds from the state space.
void setup() override
Perform configuration steps, if needed.
void defaultCellSizes() override
Set the default cell dimensions for this projection. The default implementation of this function is e...
ProjectionMatrix projection_
The projection matrix.
void project(const State *state, Eigen::Ref< Eigen::VectorXd > projection) const override
Compute the projection as an array of double values.
const StateSpace * space_
The state space this projection operates on.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
void project(const State *state, Eigen::Ref< Eigen::VectorXd > projection) const override
Compute the projection as an array of double values.
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66
void defaultCellSizes() override
Set the default cell dimensions for this projection. The default implementation of this function is e...
Eigen::MatrixXd Matrix
Datatype for projection matrices.
Matrix mat
Projection matrix.
static const double PROJECTION_DIMENSION_SPLITS
When the cell sizes for a projection are automatically computed, this value defines the number of par...
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.
Definition: StateSpace.h:70
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
Definition of an abstract state.
Definition: State.h:49
The lower and upper bounds for an Rn space.
double * values
The value of the actual vector in Rn
virtual void setCellSizes(const std::vector< double > &cellSizes)
Define the size (in each dimension) of a grid cell. The number of sizes set here must be the same as ...
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...
RealVectorOrthogonalProjectionEvaluator(const StateSpace *space, const std::vector< double > &cellSizes, std::vector< unsigned int > components)
Initialize an orthogonal projection evaluator for state space space. The indices of the kept componen...
virtual void setup()
Perform configuration steps, if needed.
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...