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<div class="title">RealVectorStateProjections.h</div> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2010, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef OMPL_BASE_SPACES_REAL_VECTOR_STATE_PROJECTIONS_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_BASE_SPACES_REAL_VECTOR_STATE_PROJECTIONS_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/base/ProjectionEvaluator.h"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "ompl/base/spaces/RealVectorStateSpace.h"</span>
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="keyword">namespace </span>ompl
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="keyword">namespace </span>base
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047
<a name="l00053"></a><a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html">00053</a> <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html" title="Definition for a class computing linear projections (multiplication of a k-by-n matrix to the the Rn ...">RealVectorLinearProjectionEvaluator</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html" title="Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...">ProjectionEvaluator</a>
<a name="l00054"></a>00054 {
<a name="l00055"></a>00055 <span class="keyword">public</span>:
<a name="l00056"></a>00056
<a name="l00059"></a>00059 <a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a946eba69ff8d55f401bd0b4cb1effec2" title="Initialize a linear projection evaluator for state space space. The used projection matrix is project...">RealVectorLinearProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">StateSpace</a> *space, <span class="keyword">const</span> std::vector<double> &cellSizes,
<a name="l00060"></a>00060 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803" title="Datatype for projection matrices.">ProjectionMatrix::Matrix</a> &projection);
<a name="l00061"></a>00061
<a name="l00064"></a>00064 <a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a946eba69ff8d55f401bd0b4cb1effec2" title="Initialize a linear projection evaluator for state space space. The used projection matrix is project...">RealVectorLinearProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &space, <span class="keyword">const</span> std::vector<double> &cellSizes,
<a name="l00065"></a>00065 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803" title="Datatype for projection matrices.">ProjectionMatrix::Matrix</a> &projection);
<a name="l00066"></a>00066
<a name="l00069"></a>00069 <a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a946eba69ff8d55f401bd0b4cb1effec2" title="Initialize a linear projection evaluator for state space space. The used projection matrix is project...">RealVectorLinearProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">StateSpace</a> *space,
<a name="l00070"></a>00070 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803" title="Datatype for projection matrices.">ProjectionMatrix::Matrix</a> &projection);
<a name="l00071"></a>00071
<a name="l00074"></a>00074 <a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a946eba69ff8d55f401bd0b4cb1effec2" title="Initialize a linear projection evaluator for state space space. The used projection matrix is project...">RealVectorLinearProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &space,
<a name="l00075"></a>00075 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803" title="Datatype for projection matrices.">ProjectionMatrix::Matrix</a> &projection);
<a name="l00076"></a>00076
<a name="l00077"></a>00077 <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a64aa21c83e50134232fdbb8ffc39a3df" title="Return the dimension of the projection defined by this evaluator.">getDimension</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a4f7edcc0966059982cac25c3351976fb" title="Compute the projection as an array of double values.">project</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <a class="code" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b" title="The datatype for state projections. This class contains a real vector.">EuclideanProjection</a> &projection) <span class="keyword">const</span>;
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <span class="keyword">protected</span>:
<a name="l00082"></a>00082
<a name="l00084"></a><a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a787c82b4b59d7fa379040b1a65a82f8a">00084</a> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html" title="A projection matrix -- it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated.">ProjectionMatrix</a> <a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a787c82b4b59d7fa379040b1a65a82f8a" title="The projection matrix.">projection_</a>;
<a name="l00085"></a>00085
<a name="l00086"></a>00086 };
<a name="l00087"></a>00087
<a name="l00089"></a><a class="code" href="classompl_1_1base_1_1RealVectorRandomLinearProjectionEvaluator.html">00089</a> <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1RealVectorRandomLinearProjectionEvaluator.html" title="Definition for a class computing a random linear projections.">RealVectorRandomLinearProjectionEvaluator</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html" title="Definition for a class computing linear projections (multiplication of a k-by-n matrix to the the Rn ...">RealVectorLinearProjectionEvaluator</a>
<a name="l00090"></a>00090 {
<a name="l00091"></a>00091 <span class="keyword">public</span>:
<a name="l00092"></a>00092
<a name="l00095"></a><a class="code" href="classompl_1_1base_1_1RealVectorRandomLinearProjectionEvaluator.html#a566a72305f24ad756006096745e553ad">00095</a> <a class="code" href="classompl_1_1base_1_1RealVectorRandomLinearProjectionEvaluator.html#a566a72305f24ad756006096745e553ad" title="Initialize a linear projection evaluator for state space space. The used projection matrix is sampled...">RealVectorRandomLinearProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">StateSpace</a> *space, <span class="keyword">const</span> std::vector<double> &cellSizes) :
<a name="l00096"></a>00096 <a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html" title="Definition for a class computing linear projections (multiplication of a k-by-n matrix to the the Rn ...">RealVectorLinearProjectionEvaluator</a>(space, cellSizes, <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html" title="A projection matrix -- it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated.">ProjectionMatrix</a>::ComputeRandom(space-><a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a64aa21c83e50134232fdbb8ffc39a3df" title="Return the dimension of the projection defined by this evaluator.">getDimension</a>(), cellSizes.size()))
<a name="l00097"></a>00097 {
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099
<a name="l00102"></a><a class="code" href="classompl_1_1base_1_1RealVectorRandomLinearProjectionEvaluator.html#a5539f597a77221057145270ce5c7774a">00102</a> <a class="code" href="classompl_1_1base_1_1RealVectorRandomLinearProjectionEvaluator.html#a566a72305f24ad756006096745e553ad" title="Initialize a linear projection evaluator for state space space. The used projection matrix is sampled...">RealVectorRandomLinearProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &space, <span class="keyword">const</span> std::vector<double> &cellSizes) :
<a name="l00103"></a>00103 <a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html" title="Definition for a class computing linear projections (multiplication of a k-by-n matrix to the the Rn ...">RealVectorLinearProjectionEvaluator</a>(space, cellSizes, <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html" title="A projection matrix -- it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated.">ProjectionMatrix</a>::ComputeRandom(space-><a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a64aa21c83e50134232fdbb8ffc39a3df" title="Return the dimension of the projection defined by this evaluator.">getDimension</a>(), cellSizes.size()))
<a name="l00104"></a>00104 {
<a name="l00105"></a>00105 }
<a name="l00106"></a>00106
<a name="l00109"></a><a class="code" href="classompl_1_1base_1_1RealVectorRandomLinearProjectionEvaluator.html#a1f7c683afb977a5f1b3a5c0ff91cfde4">00109</a> <a class="code" href="classompl_1_1base_1_1RealVectorRandomLinearProjectionEvaluator.html#a566a72305f24ad756006096745e553ad" title="Initialize a linear projection evaluator for state space space. The used projection matrix is sampled...">RealVectorRandomLinearProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">StateSpace</a> *space, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dim) :
<a name="l00110"></a>00110 <a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html" title="Definition for a class computing linear projections (multiplication of a k-by-n matrix to the the Rn ...">RealVectorLinearProjectionEvaluator</a>(space, <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html" title="A projection matrix -- it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated.">ProjectionMatrix</a>::ComputeRandom(space-><a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a64aa21c83e50134232fdbb8ffc39a3df" title="Return the dimension of the projection defined by this evaluator.">getDimension</a>(), dim,
<a name="l00111"></a>00111 space->as<<a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html" title="A state space representing Rn. The distance function is the L2 norm.">RealVectorStateSpace</a>>()->getBounds().getDifference()))
<a name="l00112"></a>00112 {
<a name="l00113"></a>00113 }
<a name="l00114"></a>00114
<a name="l00117"></a><a class="code" href="classompl_1_1base_1_1RealVectorRandomLinearProjectionEvaluator.html#a81f612abf40ec2b04aeaf3325639edbe">00117</a> <a class="code" href="classompl_1_1base_1_1RealVectorRandomLinearProjectionEvaluator.html#a566a72305f24ad756006096745e553ad" title="Initialize a linear projection evaluator for state space space. The used projection matrix is sampled...">RealVectorRandomLinearProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &space, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dim) :
<a name="l00118"></a>00118 <a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html" title="Definition for a class computing linear projections (multiplication of a k-by-n matrix to the the Rn ...">RealVectorLinearProjectionEvaluator</a>(space, <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html" title="A projection matrix -- it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated.">ProjectionMatrix</a>::ComputeRandom(space-><a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a64aa21c83e50134232fdbb8ffc39a3df" title="Return the dimension of the projection defined by this evaluator.">getDimension</a>(), dim,
<a name="l00119"></a>00119 space->as<<a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html" title="A state space representing Rn. The distance function is the L2 norm.">RealVectorStateSpace</a>>()->getBounds().getDifference()))
<a name="l00120"></a>00120 {
<a name="l00121"></a>00121 }
<a name="l00122"></a>00122
<a name="l00123"></a>00123 };
<a name="l00124"></a>00124
<a name="l00126"></a><a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html">00126</a> <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html" title="Definition for a class computing orthogonal projections.">RealVectorOrthogonalProjectionEvaluator</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html" title="Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...">ProjectionEvaluator</a>
<a name="l00127"></a>00127 {
<a name="l00128"></a>00128 <span class="keyword">public</span>:
<a name="l00129"></a>00129
<a name="l00132"></a>00132 <a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html#a9b0012c55558270a7c8e061833fef665" title="Initialize an orthogonal projection evaluator for state space space. The indices of the kept componen...">RealVectorOrthogonalProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">StateSpace</a> *space, <span class="keyword">const</span> std::vector<double> &cellSizes,
<a name="l00133"></a>00133 <span class="keyword">const</span> std::vector<unsigned int> &components);
<a name="l00134"></a>00134
<a name="l00137"></a>00137 <a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html#a9b0012c55558270a7c8e061833fef665" title="Initialize an orthogonal projection evaluator for state space space. The indices of the kept componen...">RealVectorOrthogonalProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &space, <span class="keyword">const</span> std::vector<double> &cellSizes,
<a name="l00138"></a>00138 <span class="keyword">const</span> std::vector<unsigned int> &components);
<a name="l00139"></a>00139
<a name="l00142"></a>00142 <a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html#a9b0012c55558270a7c8e061833fef665" title="Initialize an orthogonal projection evaluator for state space space. The indices of the kept componen...">RealVectorOrthogonalProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">StateSpace</a> *space, <span class="keyword">const</span> std::vector<unsigned int> &components);
<a name="l00143"></a>00143
<a name="l00146"></a>00146 <a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html#a9b0012c55558270a7c8e061833fef665" title="Initialize an orthogonal projection evaluator for state space space. The indices of the kept componen...">RealVectorOrthogonalProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &space, <span class="keyword">const</span> std::vector<unsigned int> &components);
<a name="l00147"></a>00147
<a name="l00148"></a>00148 <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html#ae1cd4cb18770ea3355e60c0a7f4a5234" title="Return the dimension of the projection defined by this evaluator.">getDimension</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00149"></a>00149
<a name="l00150"></a>00150 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html#a3cd0578c2e9225cd748bc0718d8e0eda" title="Set the default cell dimensions for this projection. The default implementation of this function is e...">defaultCellSizes</a>(<span class="keywordtype">void</span>);
<a name="l00151"></a>00151
<a name="l00152"></a>00152 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html#a4123acbf3ac5a966d7cee039697bcd4e" title="Compute the projection as an array of double values.">project</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <a class="code" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b" title="The datatype for state projections. This class contains a real vector.">EuclideanProjection</a> &projection) <span class="keyword">const</span>;
<a name="l00153"></a>00153
<a name="l00154"></a>00154 <span class="keyword">protected</span>:
<a name="l00155"></a>00155
<a name="l00157"></a><a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html#a0d7d60d956eca6610bb8102164ec502a">00157</a> std::vector<unsigned int> <a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html#a0d7d60d956eca6610bb8102164ec502a" title="The set of components selected by the projection.">components_</a>;
<a name="l00158"></a>00158
<a name="l00159"></a>00159 };
<a name="l00160"></a>00160
<a name="l00162"></a><a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html">00162</a> <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html" title="Define the identity projection.">RealVectorIdentityProjectionEvaluator</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html" title="Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...">ProjectionEvaluator</a>
<a name="l00163"></a>00163 {
<a name="l00164"></a>00164 <span class="keyword">public</span>:
<a name="l00165"></a>00165
<a name="l00168"></a>00168 <a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#ae3e16c0a046fc65e07ef6ea5b0b14cdf" title="Initialize the identity projection evaluator for state space space. The indices of the kept component...">RealVectorIdentityProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">StateSpace</a> *space, <span class="keyword">const</span> std::vector<double> &cellSizes);
<a name="l00169"></a>00169
<a name="l00172"></a>00172 <a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#ae3e16c0a046fc65e07ef6ea5b0b14cdf" title="Initialize the identity projection evaluator for state space space. The indices of the kept component...">RealVectorIdentityProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &space, <span class="keyword">const</span> std::vector<double> &cellSizes);
<a name="l00173"></a>00173
<a name="l00176"></a>00176 <a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#ae3e16c0a046fc65e07ef6ea5b0b14cdf" title="Initialize the identity projection evaluator for state space space. The indices of the kept component...">RealVectorIdentityProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">StateSpace</a> *space);
<a name="l00177"></a>00177
<a name="l00180"></a>00180 <a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#ae3e16c0a046fc65e07ef6ea5b0b14cdf" title="Initialize the identity projection evaluator for state space space. The indices of the kept component...">RealVectorIdentityProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">StateSpacePtr</a> &space);
<a name="l00181"></a>00181
<a name="l00182"></a>00182 <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#a2c896827529cd970ff97759c35255d4a" title="Return the dimension of the projection defined by this evaluator.">getDimension</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00183"></a>00183
<a name="l00184"></a>00184 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#a04dc95785eb0b64e0d280f0daaa9bee3" title="Set the default cell dimensions for this projection. The default implementation of this function is e...">defaultCellSizes</a>(<span class="keywordtype">void</span>);
<a name="l00185"></a>00185
<a name="l00186"></a>00186 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#a0aa8fbb18e9a36f8c728477722a6de6f" title="Perform configuration steps, if needed.">setup</a>(<span class="keywordtype">void</span>);
<a name="l00187"></a>00187
<a name="l00188"></a>00188 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#ac73a972f7103dd3d18af10e46bd665e1" title="Compute the projection as an array of double values.">project</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <a class="code" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b" title="The datatype for state projections. This class contains a real vector.">EuclideanProjection</a> &projection) <span class="keyword">const</span>;
<a name="l00189"></a>00189
<a name="l00190"></a>00190 <span class="keyword">private</span>:
<a name="l00191"></a>00191
<a name="l00193"></a>00193 std::size_t copySize_;
<a name="l00194"></a>00194
<a name="l00195"></a>00195 };
<a name="l00196"></a>00196
<a name="l00197"></a>00197 }
<a name="l00198"></a>00198 }
<a name="l00199"></a>00199 <span class="preprocessor">#endif</span>
</pre></div></div>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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