DynamicTimeWarp.h

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/* Author: Dave Coleman
   Desc:   Compute Dynamic Time Warping
*/
 
#ifndef OMPL_TOOLS_LIGHTNING_DYNAMIC_TIME_WARP_
#define OMPL_TOOLS_LIGHTNING_DYNAMIC_TIME_WARP_
 
#include <ompl/geometric/PathGeometric.h>
#include <ompl/base/SpaceInformation.h>
 
#include <Eigen/Core>
 
namespace ompl
{
    namespace tools
    {
        namespace og = ompl::geometric;
 
        OMPL_CLASS_FORWARD(DynamicTimeWarp);
 
        class DynamicTimeWarp
        {
        public:
            explicit DynamicTimeWarp(base::SpaceInformationPtr si);
 
            double calcDTWDistance(const og::PathGeometric &path1, const og::PathGeometric &path2) const;
 
            double getPathsScore(const og::PathGeometric &path1, const og::PathGeometric &path2) const;
 
        private:
            base::SpaceInformationPtr si_;
 
            mutable Eigen::MatrixXd table_;
 
        public:
            EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        };  // end of class
 
    }  // namespace tools
}  // namespace ompl
 
#endif