MorseProjection.h

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/* Author: Caleb Voss */
 
#ifndef OMPL_EXTENSION_MORSE_PROJECTION_
#define OMPL_EXTENSION_MORSE_PROJECTION_
 
#include "ompl/extensions/morse/MorseStateSpace.h"
 
namespace ompl
{
    namespace base
    {
        class MorseProjection : public ProjectionEvaluator
        {
        public:
            MorseProjection(const StateSpacePtr &space);
 
            void setup() override;
 
            unsigned int getDimension() const override;
 
            void defaultCellSizes() override;
 
            void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override;
 
        protected:
            MorseStateSpace *space_;
        };
    }
}
 
#endif