RealVectorStateProjections.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SPACES_REAL_VECTOR_STATE_PROJECTIONS_
38 #define OMPL_BASE_SPACES_REAL_VECTOR_STATE_PROJECTIONS_
39 
40 #include "ompl/base/ProjectionEvaluator.h"
41 #include "ompl/base/spaces/RealVectorStateSpace.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
53  {
54  public:
57  RealVectorLinearProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes,
58  const ProjectionMatrix::Matrix &projection);
59 
62  RealVectorLinearProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes,
63  const ProjectionMatrix::Matrix &projection);
64 
68 
72 
73  unsigned int getDimension() const override;
74 
75  void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override;
76 
77  protected:
80  };
81 
84  {
85  public:
88  RealVectorRandomLinearProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes)
90  space, cellSizes, ProjectionMatrix::ComputeRandom(space->getDimension(), cellSizes.size()))
91  {
92  }
93 
96  RealVectorRandomLinearProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes)
98  space, cellSizes, ProjectionMatrix::ComputeRandom(space->getDimension(), cellSizes.size()))
99  {
100  }
101 
107  space,
108  ProjectionMatrix::ComputeRandom(space->getDimension(), dim,
109  space->as<RealVectorStateSpace>()->getBounds().getDifference()))
110  {
111  }
112 
118  space,
119  ProjectionMatrix::ComputeRandom(space->getDimension(), dim,
120  space->as<RealVectorStateSpace>()->getBounds().getDifference()))
121  {
122  }
123  };
124 
127  {
128  public:
131  RealVectorOrthogonalProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes,
132  std::vector<unsigned int> components);
133 
136  RealVectorOrthogonalProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes,
137  std::vector<unsigned int> components);
138 
142  RealVectorOrthogonalProjectionEvaluator(const StateSpace *space, std::vector<unsigned int> components);
143 
147  RealVectorOrthogonalProjectionEvaluator(const StateSpacePtr &space, std::vector<unsigned int> components);
148 
149  unsigned int getDimension() const override;
150 
151  void defaultCellSizes() override;
152 
153  void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override;
154 
155  protected:
157  void copyBounds();
158 
160  std::vector<unsigned int> components_;
161  };
162 
165  {
166  public:
169  RealVectorIdentityProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes);
170 
173  RealVectorIdentityProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes);
174 
179 
184 
185  unsigned int getDimension() const override;
186 
187  void defaultCellSizes() override;
188 
189  void setup() override;
190 
191  void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override;
192 
193  private:
195  void copyBounds();
196 
198  std::size_t copySize_;
199  };
200  } // namespace base
201 } // namespace ompl
202 #endif
RealVectorRandomLinearProjectionEvaluator(const StateSpacePtr &space, unsigned int dim)
Initialize a linear projection evaluator for state space space. The used projection matrix is sampled...
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
const RealVectorBounds & getBounds() const
Get the bounds computed/set for this projection.
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.
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.
Definition for a class computing orthogonal projections.
void project(const State *state, Eigen::Ref< Eigen::VectorXd > projection) const override
Compute the projection as an array of double values.
Definition for a class computing a random linear projections.
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.
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.
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.
RealVectorRandomLinearProjectionEvaluator(const StateSpacePtr &space, const std::vector< double > &cellSizes)
Initialize a linear projection evaluator for state space space. The used projection matrix is sampled...
Definition of an abstract state.
Definition: State.h:49
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...
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...
Definition for a class computing linear projections (multiplication of a k-by-n matrix to the the Rn ...
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...
Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...