DynamicTimeWarp.h
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34 
35 /* Author: Dave Coleman
36  Desc: Compute Dynamic Time Warping
37 */
38 
39 #ifndef OMPL_TOOLS_LIGHTNING_DYNAMIC_TIME_WARP_
40 #define OMPL_TOOLS_LIGHTNING_DYNAMIC_TIME_WARP_
41 
42 #include <ompl/geometric/PathGeometric.h>
43 #include <ompl/base/SpaceInformation.h>
44 
45 #include <Eigen/Core>
46 
47 namespace ompl
48 {
49  namespace tools
50  {
51  namespace og = ompl::geometric;
52 
54  OMPL_CLASS_FORWARD(DynamicTimeWarp);
56 
60  class DynamicTimeWarp
61  {
62  public:
63  explicit DynamicTimeWarp(base::SpaceInformationPtr si);
64 
71  double calcDTWDistance(const og::PathGeometric &path1, const og::PathGeometric &path2) const;
72 
82  double getPathsScore(const og::PathGeometric &path1, const og::PathGeometric &path2) const;
83 
84  private:
86  base::SpaceInformationPtr si_;
87 
89  mutable Eigen::MatrixXd table_;
90 
91  public:
92  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
93  }; // end of class
94 
95  } // namespace tools
96 } // namespace ompl
97 
98 #endif
This namespace contains code that is specific to planning under geometric constraints.
Definition: GeneticSearch.h:79
Definition of a geometric path.
Definition: PathGeometric.h:97
double calcDTWDistance(const og::PathGeometric &path1, const og::PathGeometric &path2) const
Use Dynamic Timewarping to score two paths.
double getPathsScore(const og::PathGeometric &path1, const og::PathGeometric &path2) const
Use dynamic time warping to compare the similarity of two paths Note: this will interpolate both of t...
Main namespace. Contains everything in this library.