MorseProjection.h
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34 
35 /* Author: Caleb Voss */
36 
37 #ifndef OMPL_EXTENSION_MORSE_PROJECTION_
38 #define OMPL_EXTENSION_MORSE_PROJECTION_
39 
40 #include "ompl/extensions/morse/MorseStateSpace.h"
41 
42 namespace ompl
43 {
44  namespace base
45  {
48  class MorseProjection : public ProjectionEvaluator
49  {
50  public:
52  MorseProjection(const StateSpacePtr &space);
53 
55  void setup() override;
56 
58  unsigned int getDimension() const override;
59 
65  void defaultCellSizes() override;
66 
68  void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override;
69 
70  protected:
72  MorseStateSpace *space_;
73  };
74  }
75 }
76 
77 #endif
void setup() override
Perform configuration steps, if needed.
MorseStateSpace * space_
The state space this projection operates on.
MorseProjection(const StateSpacePtr &space)
Construct a projection evaluator for a specific state space.
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 sets...
unsigned int getDimension() const override
Return the dimension of the projection defined by this evaluator.
A shared pointer wrapper for ompl::base::StateSpace.
Main namespace. Contains everything in this library.