RealVectorStateProjections.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_SPACES_REAL_VECTOR_STATE_PROJECTIONS_
#define OMPL_BASE_SPACES_REAL_VECTOR_STATE_PROJECTIONS_
 
#include "ompl/base/ProjectionEvaluator.h"
#include "ompl/base/spaces/RealVectorStateSpace.h"
 
namespace ompl
{
    namespace base
    {
        class RealVectorLinearProjectionEvaluator : public ProjectionEvaluator
        {
        public:
            RealVectorLinearProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes,
                                                const ProjectionMatrix::Matrix &projection);
 
            RealVectorLinearProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes,
                                                const ProjectionMatrix::Matrix &projection);
 
            RealVectorLinearProjectionEvaluator(const StateSpace *space, const ProjectionMatrix::Matrix &projection);
 
            RealVectorLinearProjectionEvaluator(const StateSpacePtr &space, const ProjectionMatrix::Matrix &projection);
 
            unsigned int getDimension() const override;
 
            void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override;
 
        protected:
            ProjectionMatrix projection_;
        };
 
        class RealVectorRandomLinearProjectionEvaluator : public RealVectorLinearProjectionEvaluator
        {
        public:
            RealVectorRandomLinearProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes)
              : RealVectorLinearProjectionEvaluator(
                    space, cellSizes, ProjectionMatrix::ComputeRandom(space->getDimension(), cellSizes.size()))
            {
            }
 
            RealVectorRandomLinearProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes)
              : RealVectorLinearProjectionEvaluator(
                    space, cellSizes, ProjectionMatrix::ComputeRandom(space->getDimension(), cellSizes.size()))
            {
            }
 
            RealVectorRandomLinearProjectionEvaluator(const StateSpace *space, unsigned int dim)
              : RealVectorLinearProjectionEvaluator(
                    space,
                    ProjectionMatrix::ComputeRandom(space->getDimension(), dim,
                                                    space->as<RealVectorStateSpace>()->getBounds().getDifference()))
            {
            }
 
            RealVectorRandomLinearProjectionEvaluator(const StateSpacePtr &space, unsigned int dim)
              : RealVectorLinearProjectionEvaluator(
                    space,
                    ProjectionMatrix::ComputeRandom(space->getDimension(), dim,
                                                    space->as<RealVectorStateSpace>()->getBounds().getDifference()))
            {
            }
        };
 
        class RealVectorOrthogonalProjectionEvaluator : public ProjectionEvaluator
        {
        public:
            RealVectorOrthogonalProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes,
                                                    std::vector<unsigned int> components);
 
            RealVectorOrthogonalProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes,
                                                    std::vector<unsigned int> components);
 
            RealVectorOrthogonalProjectionEvaluator(const StateSpace *space, std::vector<unsigned int> components);
 
            RealVectorOrthogonalProjectionEvaluator(const StateSpacePtr &space, std::vector<unsigned int> components);
 
            unsigned int getDimension() const override;
 
            void defaultCellSizes() override;
 
            void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override;
 
        protected:
            void copyBounds();
 
            std::vector<unsigned int> components_;
        };
 
        class RealVectorIdentityProjectionEvaluator : public ProjectionEvaluator
        {
        public:
            RealVectorIdentityProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes);
 
            RealVectorIdentityProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes);
 
            RealVectorIdentityProjectionEvaluator(const StateSpace *space);
 
            RealVectorIdentityProjectionEvaluator(const StateSpacePtr &space);
 
            unsigned int getDimension() const override;
 
            void defaultCellSizes() override;
 
            void setup() override;
 
            void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override;
 
        private:
            void copyBounds();
 
            std::size_t copySize_;
        };
    }  // namespace base
}  // namespace ompl
#endif