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<div class="title">ProjectionEvaluator.cpp</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) 2008, Willow Garage, Inc.</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 Willow Garage 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="comment">// We need this to create a temporary uBLAS vector from a C-style array without copying data</span>
<a name="l00038"></a>00038 <span class="preprocessor">#define BOOST_UBLAS_SHALLOW_ARRAY_ADAPTOR</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span><span class="preprocessor">#include "ompl/base/StateSpace.h"</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/util/Exception.h"</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include "ompl/util/RandomNumbers.h"</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include "ompl/tools/config/MagicConstants.h"</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include "ompl/datastructures/Grid.h"</span>
<a name="l00045"></a>00045 <span class="preprocessor">#include <boost/numeric/ublas/matrix_proxy.hpp></span>
<a name="l00046"></a>00046 <span class="preprocessor">#include <boost/numeric/ublas/io.hpp></span>
<a name="l00047"></a>00047 <span class="preprocessor">#include <cmath></span>
<a name="l00048"></a>00048 <span class="preprocessor">#include <cstring></span>
<a name="l00049"></a>00049 <span class="preprocessor">#include <limits></span>
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> DIMENSION_UPDATE_FACTOR = 1.2;
<a name="l00052"></a>00052
<a name="l00053"></a><a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a306ddad92cbc26a8fa479f1ce4ab238a">00053</a> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803" title="Datatype for projection matrices.">ompl::base::ProjectionMatrix::Matrix</a> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a306ddad92cbc26a8fa479f1ce4ab238a" title="Compute a random projection matrix with from columns and to rows. A vector with from elements can be ...">ompl::base::ProjectionMatrix::ComputeRandom</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> from, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> to, <span class="keyword">const</span> std::vector<double> &scale)
<a name="l00054"></a>00054 {
<a name="l00055"></a>00055 <span class="keyword">using namespace </span>boost::numeric::ublas;
<a name="l00056"></a>00056
<a name="l00057"></a>00057 <a class="code" href="classompl_1_1RNG.html" title="Random number generation. An instance of this class cannot be used by multiple threads at once (membe...">RNG</a> rng;
<a name="l00058"></a>00058 <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803" title="Datatype for projection matrices.">Matrix</a> projection(to, from);
<a name="l00059"></a>00059
<a name="l00060"></a>00060 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < to ; ++i)
<a name="l00061"></a>00061 {
<a name="l00062"></a>00062 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0 ; j < from ; ++j)
<a name="l00063"></a>00063 projection(i, j) = rng.gaussian01();
<a name="l00064"></a>00064 }
<a name="l00065"></a>00065
<a name="l00066"></a>00066 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 1 ; i < to ; ++i)
<a name="l00067"></a>00067 {
<a name="l00068"></a>00068 matrix_row<Matrix> row(projection, i);
<a name="l00069"></a>00069 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0 ; j < i ; ++j)
<a name="l00070"></a>00070 {
<a name="l00071"></a>00071 matrix_row<Matrix> prevRow(projection, j);
<a name="l00072"></a>00072 <span class="comment">// subtract projection</span>
<a name="l00073"></a>00073 row -= inner_prod(row, prevRow) * prevRow;
<a name="l00074"></a>00074 }
<a name="l00075"></a>00075 <span class="comment">// normalize</span>
<a name="l00076"></a>00076 row /= norm_2(row);
<a name="l00077"></a>00077 }
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <span class="keywordflow">return</span> projection;
<a name="l00080"></a>00080 }
<a name="l00081"></a>00081
<a name="l00082"></a><a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#adad1010b61fe753350445de650ada766">00082</a> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803" title="Datatype for projection matrices.">ompl::base::ProjectionMatrix::Matrix</a> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a306ddad92cbc26a8fa479f1ce4ab238a" title="Compute a random projection matrix with from columns and to rows. A vector with from elements can be ...">ompl::base::ProjectionMatrix::ComputeRandom</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> from, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> to)
<a name="l00083"></a>00083 {
<a name="l00084"></a>00084 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a306ddad92cbc26a8fa479f1ce4ab238a" title="Compute a random projection matrix with from columns and to rows. A vector with from elements can be ...">ComputeRandom</a>(from, to);
<a name="l00085"></a>00085 }
<a name="l00086"></a>00086
<a name="l00087"></a><a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a5d6ba2d6abcc7ee055adaacf3699adf3">00087</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a5d6ba2d6abcc7ee055adaacf3699adf3" title="Wrapper for ComputeRandom(from, to, scale)">ompl::base::ProjectionMatrix::computeRandom</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> from, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> to, <span class="keyword">const</span> std::vector<double> &scale)
<a name="l00088"></a>00088 {
<a name="l00089"></a>00089 <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a0852751bba6e533c0e08792be5c55444" title="Projection matrix.">mat</a> = <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a306ddad92cbc26a8fa479f1ce4ab238a" title="Compute a random projection matrix with from columns and to rows. A vector with from elements can be ...">ComputeRandom</a>(from, to);
<a name="l00090"></a>00090
<a name="l00091"></a>00091 assert(scale.size() == from);
<a name="l00092"></a>00092 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < from ; ++i)
<a name="l00093"></a>00093 {
<a name="l00094"></a>00094 <span class="keywordflow">if</span> (fabs(scale[i]) < std::numeric_limits<double>::epsilon())
<a name="l00095"></a>00095 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Scaling factor must be non-zero"</span>);
<a name="l00096"></a>00096 boost::numeric::ublas::column(<a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a0852751bba6e533c0e08792be5c55444" title="Projection matrix.">mat</a>, i) /= scale[i];
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099
<a name="l00100"></a><a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#ac6a06b411074970846c0d6aff9028022">00100</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a5d6ba2d6abcc7ee055adaacf3699adf3" title="Wrapper for ComputeRandom(from, to, scale)">ompl::base::ProjectionMatrix::computeRandom</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> from, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> to)
<a name="l00101"></a>00101 {
<a name="l00102"></a>00102 <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a0852751bba6e533c0e08792be5c55444" title="Projection matrix.">mat</a> = <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a306ddad92cbc26a8fa479f1ce4ab238a" title="Compute a random projection matrix with from columns and to rows. A vector with from elements can be ...">ComputeRandom</a>(from, to);
<a name="l00103"></a>00103 }
<a name="l00104"></a>00104
<a name="l00105"></a><a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#aae8c7810595867e22da08f567581721d">00105</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#aae8c7810595867e22da08f567581721d" title="Multiply the vector from by the contained projection matrix to obtain the vector to.">ompl::base::ProjectionMatrix::project</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> *from, <a class="code" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b" title="The datatype for state projections. This class contains a real vector.">EuclideanProjection</a>& to)<span class="keyword"> const</span>
<a name="l00106"></a>00106 <span class="keyword"></span>{
<a name="l00107"></a>00107 <span class="keyword">using namespace </span>boost::numeric::ublas;
<a name="l00108"></a>00108 <span class="comment">// create a temporary uBLAS vector from a C-style array without copying data</span>
<a name="l00109"></a>00109 shallow_array_adaptor<const double> tmp1(<a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a0852751bba6e533c0e08792be5c55444" title="Projection matrix.">mat</a>.size2(), from);
<a name="l00110"></a>00110 vector<double, shallow_array_adaptor<const double> > tmp2(<a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a0852751bba6e533c0e08792be5c55444" title="Projection matrix.">mat</a>.size2(), tmp1);
<a name="l00111"></a>00111 to = prod(<a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a0852751bba6e533c0e08792be5c55444" title="Projection matrix.">mat</a>, tmp2);
<a name="l00112"></a>00112 }
<a name="l00113"></a>00113
<a name="l00114"></a><a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#af85b426d3148933a7b54e65517ba9faa">00114</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#af85b426d3148933a7b54e65517ba9faa" title="Print the contained projection matrix to a stram.">ompl::base::ProjectionMatrix::print</a>(std::ostream &out)<span class="keyword"> const</span>
<a name="l00115"></a>00115 <span class="keyword"></span>{
<a name="l00116"></a>00116 out << <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a0852751bba6e533c0e08792be5c55444" title="Projection matrix.">mat</a> << std::endl;
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118
<a name="l00119"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a4568561bad390a369af76955bc4c3592">00119</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a4568561bad390a369af76955bc4c3592" title="Return true if any user configuration has been done to this projection evaluator (setCellSizes() was ...">ompl::base::ProjectionEvaluator::userConfigured</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00120"></a>00120 <span class="keyword"></span>{
<a name="l00121"></a>00121 <span class="keywordflow">return</span> !defaultCellSizes_ && !cellSizesWereInferred_;
<a name="l00122"></a>00122 }
<a name="l00123"></a>00123
<a name="l00124"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a159e26be9f83a75a001ad2d3ba477f71">00124</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a159e26be9f83a75a001ad2d3ba477f71" title="Define the size (in each dimension) of a grid cell. The number of sizes set here must be the same as ...">ompl::base::ProjectionEvaluator::setCellSizes</a>(<span class="keyword">const</span> std::vector<double> &cellSizes)
<a name="l00125"></a>00125 {
<a name="l00126"></a>00126 defaultCellSizes_ = <span class="keyword">false</span>;
<a name="l00127"></a>00127 cellSizesWereInferred_ = <span class="keyword">false</span>;
<a name="l00128"></a>00128 cellSizes_ = cellSizes;
<a name="l00129"></a>00129 checkCellSizes();
<a name="l00130"></a>00130 }
<a name="l00131"></a>00131
<a name="l00132"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a10fa3e518bd67a328b25a7b929093623">00132</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a10fa3e518bd67a328b25a7b929093623" title="Check if cell dimensions match projection dimension.">ompl::base::ProjectionEvaluator::checkCellSizes</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00133"></a>00133 <span class="keyword"></span>{
<a name="l00134"></a>00134 <span class="keywordflow">if</span> (getDimension() <= 0)
<a name="l00135"></a>00135 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Dimension of projection needs to be larger than 0"</span>);
<a name="l00136"></a>00136 <span class="keywordflow">if</span> (cellSizes_.size() != getDimension())
<a name="l00137"></a>00137 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Number of dimensions in projection space does not match number of cell sizes"</span>);
<a name="l00138"></a>00138 }
<a name="l00139"></a>00139
<a name="l00140"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#aba6614331495fa95c230f514140fd6e2">00140</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#aba6614331495fa95c230f514140fd6e2" title="Set the default cell dimensions for this projection. The default implementation of this function is e...">ompl::base::ProjectionEvaluator::defaultCellSizes</a>(<span class="keywordtype">void</span>)
<a name="l00141"></a>00141 {
<a name="l00142"></a>00142 }
<a name="l00143"></a>00143
<a name="l00145"></a>00145 <span class="keyword">namespace </span>ompl
<a name="l00146"></a>00146 {
<a name="l00147"></a>00147 <span class="keyword">namespace </span>base
<a name="l00148"></a>00148 {
<a name="l00149"></a>00149
<a name="l00150"></a>00150 <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> computeCoordinatesHelper(<span class="keyword">const</span> std::vector<double> &cellSizes, <span class="keyword">const</span> <a class="code" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b" title="The datatype for state projections. This class contains a real vector.">EuclideanProjection</a> &projection, <a class="code" href="namespaceompl_1_1base.html#a01cfb1e28af37bb139841342cb4afb0c" title="Grid cells corresponding to a projection value are described in terms of their coordinates.">ProjectionCoordinates</a> &coord)
<a name="l00151"></a>00151 {
<a name="l00152"></a>00152 <span class="keyword">const</span> std::size_t dim = cellSizes.size();
<a name="l00153"></a>00153 coord.resize(dim);
<a name="l00154"></a>00154 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < dim ; ++i)
<a name="l00155"></a>00155 coord[i] = (<span class="keywordtype">int</span>)floor(projection(i)/cellSizes[i]);
<a name="l00156"></a>00156 }
<a name="l00157"></a>00157 <span class="comment">/*</span>
<a name="l00158"></a>00158 <span class="comment"> static Grid<int> constructGrid(unsigned int dim, const std::vector<ProjectionCoordinates> &coord)</span>
<a name="l00159"></a>00159 <span class="comment"> {</span>
<a name="l00160"></a>00160 <span class="comment"> Grid<int> g(dim);</span>
<a name="l00161"></a>00161 <span class="comment"> for (std::size_t i = 0 ; i < coord.size() ; ++i)</span>
<a name="l00162"></a>00162 <span class="comment"> {</span>
<a name="l00163"></a>00163 <span class="comment"> Grid<int>::Cell *c = g.getCell(coord[i]);</span>
<a name="l00164"></a>00164 <span class="comment"> if (c)</span>
<a name="l00165"></a>00165 <span class="comment"> c->data++;</span>
<a name="l00166"></a>00166 <span class="comment"> else</span>
<a name="l00167"></a>00167 <span class="comment"> {</span>
<a name="l00168"></a>00168 <span class="comment"> Grid<int>::Cell *c = g.createCell(coord[i]);</span>
<a name="l00169"></a>00169 <span class="comment"> c->data = 1;</span>
<a name="l00170"></a>00170 <span class="comment"> g.add(c);</span>
<a name="l00171"></a>00171 <span class="comment"> }</span>
<a name="l00172"></a>00172 <span class="comment"> }</span>
<a name="l00173"></a>00173 <span class="comment"> return g;</span>
<a name="l00174"></a>00174 <span class="comment"> }</span>
<a name="l00175"></a>00175 <span class="comment"></span>
<a name="l00176"></a>00176 <span class="comment"> static unsigned int getComponentCount(const std::vector<EuclideanProjection*> &proj,</span>
<a name="l00177"></a>00177 <span class="comment"> const std::vector<double> &cellSizes)</span>
<a name="l00178"></a>00178 <span class="comment"> {</span>
<a name="l00179"></a>00179 <span class="comment"> std::vector<ProjectionCoordinates> coord(proj.size());</span>
<a name="l00180"></a>00180 <span class="comment"> for (std::size_t i = 0 ; i < proj.size() ; ++i)</span>
<a name="l00181"></a>00181 <span class="comment"> computeCoordinatesHelper(cellSizes, *proj[i], coord[i]);</span>
<a name="l00182"></a>00182 <span class="comment"> return constructGrid(cellSizes.size(), coord).components().size();</span>
<a name="l00183"></a>00183 <span class="comment"> }</span>
<a name="l00184"></a>00184 <span class="comment"></span>
<a name="l00185"></a>00185 <span class="comment"> static int updateComponentCountDimension(const std::vector<EuclideanProjection*> &proj,</span>
<a name="l00186"></a>00186 <span class="comment"> std::vector<double> &cellSizes, bool increase)</span>
<a name="l00187"></a>00187 <span class="comment"> {</span>
<a name="l00188"></a>00188 <span class="comment"> unsigned int dim = cellSizes.size();</span>
<a name="l00189"></a>00189 <span class="comment"> const double factor = increase ? DIMENSION_UPDATE_FACTOR : 1.0 / DIMENSION_UPDATE_FACTOR;</span>
<a name="l00190"></a>00190 <span class="comment"></span>
<a name="l00191"></a>00191 <span class="comment"> int bestD = -1;</span>
<a name="l00192"></a>00192 <span class="comment"> unsigned int best = 0;</span>
<a name="l00193"></a>00193 <span class="comment"> for (unsigned int d = 0 ; d < dim ; ++d)</span>
<a name="l00194"></a>00194 <span class="comment"> {</span>
<a name="l00195"></a>00195 <span class="comment"> double backup = cellSizes[d];</span>
<a name="l00196"></a>00196 <span class="comment"> cellSizes[d] *= factor;</span>
<a name="l00197"></a>00197 <span class="comment"> unsigned int nc = getComponentCount(proj, cellSizes);</span>
<a name="l00198"></a>00198 <span class="comment"> if (bestD < 0 || (increase && nc > best) || (!increase && nc < best))</span>
<a name="l00199"></a>00199 <span class="comment"> {</span>
<a name="l00200"></a>00200 <span class="comment"> best = nc;</span>
<a name="l00201"></a>00201 <span class="comment"> bestD = d;</span>
<a name="l00202"></a>00202 <span class="comment"> }</span>
<a name="l00203"></a>00203 <span class="comment"> cellSizes[d] = backup;</span>
<a name="l00204"></a>00204 <span class="comment"> }</span>
<a name="l00205"></a>00205 <span class="comment"> cellSizes[bestD] *= factor;</span>
<a name="l00206"></a>00206 <span class="comment"> return bestD;</span>
<a name="l00207"></a>00207 <span class="comment"> }</span>
<a name="l00208"></a>00208 <span class="comment"> */</span>
<a name="l00209"></a>00209 }
<a name="l00210"></a>00210 }
<a name="l00212"></a>00212
<a name="l00213"></a>00213
<a name="l00214"></a>00214
<a name="l00215"></a>00215 <span class="comment">/*</span>
<a name="l00216"></a>00216 <span class="comment">void ompl::base::ProjectionEvaluator::computeCellSizes(const std::vector<const State*> &states)</span>
<a name="l00217"></a>00217 <span class="comment">{</span>
<a name="l00218"></a>00218 <span class="comment"> setup();</span>
<a name="l00219"></a>00219 <span class="comment"></span>
<a name="l00220"></a>00220 <span class="comment"> msg_.debug("Computing projections from %u states", states.size());</span>
<a name="l00221"></a>00221 <span class="comment"></span>
<a name="l00222"></a>00222 <span class="comment"> unsigned int dim = getDimension();</span>
<a name="l00223"></a>00223 <span class="comment"> std::vector<double> low(dim, std::numeric_limits<double>::infinity());</span>
<a name="l00224"></a>00224 <span class="comment"> std::vector<double> high(dim, -std::numeric_limits<double>::infinity());</span>
<a name="l00225"></a>00225 <span class="comment"> std::vector<EuclideanProjection*> proj(states.size());</span>
<a name="l00226"></a>00226 <span class="comment"> std::vector<ProjectionCoordinates> coord(states.size());</span>
<a name="l00227"></a>00227 <span class="comment"></span>
<a name="l00228"></a>00228 <span class="comment"> for (std::size_t i = 0 ; i < states.size() ; ++i)</span>
<a name="l00229"></a>00229 <span class="comment"> {</span>
<a name="l00230"></a>00230 <span class="comment"> proj[i] = new EuclideanProjection(dim);</span>
<a name="l00231"></a>00231 <span class="comment"> project(states[i], *proj[i]);</span>
<a name="l00232"></a>00232 <span class="comment"> for (std::size_t j = 0 ; j < dim ; ++j)</span>
<a name="l00233"></a>00233 <span class="comment"> {</span>
<a name="l00234"></a>00234 <span class="comment"> if (low[j] > proj[i]->values[j])</span>
<a name="l00235"></a>00235 <span class="comment"> low[j] = proj[i]->values[j];</span>
<a name="l00236"></a>00236 <span class="comment"> if (high[j] < proj[i]->values[j])</span>
<a name="l00237"></a>00237 <span class="comment"> high[j] = proj[i]->values[j];</span>
<a name="l00238"></a>00238 <span class="comment"> }</span>
<a name="l00239"></a>00239 <span class="comment"> }</span>
<a name="l00240"></a>00240 <span class="comment"></span>
<a name="l00241"></a>00241 <span class="comment"> bool dir1 = false, dir2 = false;</span>
<a name="l00242"></a>00242 <span class="comment"> do</span>
<a name="l00243"></a>00243 <span class="comment"> {</span>
<a name="l00244"></a>00244 <span class="comment"> for (std::size_t i = 0 ; i < proj.size() ; ++i)</span>
<a name="l00245"></a>00245 <span class="comment"> computeCoordinates(*proj[i], coord[i]);</span>
<a name="l00246"></a>00246 <span class="comment"> const Grid<int> &g = constructGrid(dim, coord);</span>
<a name="l00247"></a>00247 <span class="comment"></span>
<a name="l00248"></a>00248 <span class="comment"> const std::vector< std::vector<Grid<int>::Cell*> > &comp = g.components();</span>
<a name="l00249"></a>00249 <span class="comment"> if (comp.size() > 0)</span>
<a name="l00250"></a>00250 <span class="comment"> {</span>
<a name="l00251"></a>00251 <span class="comment"> std::size_t n = comp.size() / 10;</span>
<a name="l00252"></a>00252 <span class="comment"> if (n < 1)</span>
<a name="l00253"></a>00253 <span class="comment"> n = 1;</span>
<a name="l00254"></a>00254 <span class="comment"> std::size_t s = 0;</span>
<a name="l00255"></a>00255 <span class="comment"> for (std::size_t i = 0 ; i < n ; ++i)</span>
<a name="l00256"></a>00256 <span class="comment"> s += comp[i].size();</span>
<a name="l00257"></a>00257 <span class="comment"> double f = (double)s / (double)g.size();</span>
<a name="l00258"></a>00258 <span class="comment"></span>
<a name="l00259"></a>00259 <span class="comment"> msg_.debug("There are %u connected components in the projected grid. The first 10%% fractions is %f", comp.size(), f);</span>
<a name="l00260"></a>00260 <span class="comment"></span>
<a name="l00261"></a>00261 <span class="comment"> if (f < 0.7)</span>
<a name="l00262"></a>00262 <span class="comment"> {</span>
<a name="l00263"></a>00263 <span class="comment"> dir1 = true;</span>
<a name="l00264"></a>00264 <span class="comment"> int bestD = updateComponentCountDimension(proj, cellSizes_, true);</span>
<a name="l00265"></a>00265 <span class="comment"> msg_.debug("Increasing cell size in dimension %d to %f", bestD, cellSizes_[bestD]);</span>
<a name="l00266"></a>00266 <span class="comment"> }</span>
<a name="l00267"></a>00267 <span class="comment"> else</span>
<a name="l00268"></a>00268 <span class="comment"> if (f > 0.9)</span>
<a name="l00269"></a>00269 <span class="comment"> {</span>
<a name="l00270"></a>00270 <span class="comment"> dir2 = true;</span>
<a name="l00271"></a>00271 <span class="comment"> int bestD = updateComponentCountDimension(proj, cellSizes_, false);</span>
<a name="l00272"></a>00272 <span class="comment"> msg_.debug("Decreasing cell size in dimension %d to %f", bestD, cellSizes_[bestD]);</span>
<a name="l00273"></a>00273 <span class="comment"> }</span>
<a name="l00274"></a>00274 <span class="comment"> else</span>
<a name="l00275"></a>00275 <span class="comment"> {</span>
<a name="l00276"></a>00276 <span class="comment"> msg_.debug("No more changes made to cell sizes");</span>
<a name="l00277"></a>00277 <span class="comment"> break;</span>
<a name="l00278"></a>00278 <span class="comment"> }</span>
<a name="l00279"></a>00279 <span class="comment"> }</span>
<a name="l00280"></a>00280 <span class="comment"> } while (dir1 ^ dir2);</span>
<a name="l00281"></a>00281 <span class="comment"></span>
<a name="l00282"></a>00282 <span class="comment"> for (unsigned int i = 0 ; i < proj.size() ; ++i)</span>
<a name="l00283"></a>00283 <span class="comment"> delete proj[i];</span>
<a name="l00284"></a>00284 <span class="comment"></span>
<a name="l00285"></a>00285 <span class="comment"> // make sure all flags are set correctly</span>
<a name="l00286"></a>00286 <span class="comment"> setCellSizes(cellSizes_);</span>
<a name="l00287"></a>00287 <span class="comment">}</span>
<a name="l00288"></a>00288 <span class="comment">*/</span>
<a name="l00289"></a>00289
<a name="l00290"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5addd461944bb826e2968bfe412586c2">00290</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5addd461944bb826e2968bfe412586c2" title="Sample the state space and decide on default cell sizes. This function is called by setup() if no cel...">ompl::base::ProjectionEvaluator::inferCellSizes</a>(<span class="keywordtype">void</span>)
<a name="l00291"></a>00291 {
<a name="l00292"></a>00292 cellSizesWereInferred_ = <span class="keyword">true</span>;
<a name="l00293"></a>00293 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dim = getDimension();
<a name="l00294"></a>00294 <span class="keywordflow">if</span> (dim > 0)
<a name="l00295"></a>00295 {
<a name="l00296"></a>00296 <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::StateSampler.">StateSamplerPtr</a> sampler = space_->allocStateSampler();
<a name="l00297"></a>00297 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *s = space_->allocState();
<a name="l00298"></a>00298 <a class="code" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b" title="The datatype for state projections. This class contains a real vector.">EuclideanProjection</a> proj(dim);
<a name="l00299"></a>00299
<a name="l00300"></a>00300 std::vector<double> low(dim, std::numeric_limits<double>::infinity());
<a name="l00301"></a>00301 std::vector<double> high(dim, -std::numeric_limits<double>::infinity());
<a name="l00302"></a>00302
<a name="l00303"></a>00303 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < <a class="code" href="namespaceompl_1_1magic.html#a481cf3e5cb49a237be7b21dc05fbfeae" title="When no cell sizes are specified for a projection, they are inferred like so: 1. approximate extent o...">magic::PROJECTION_EXTENTS_SAMPLES</a> ; ++i)
<a name="l00304"></a>00304 {
<a name="l00305"></a>00305 sampler->sampleUniform(s);
<a name="l00306"></a>00306 <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#aae8c7810595867e22da08f567581721d" title="Multiply the vector from by the contained projection matrix to obtain the vector to.">project</a>(s, proj);
<a name="l00307"></a>00307 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0 ; j < dim ; ++j)
<a name="l00308"></a>00308 {
<a name="l00309"></a>00309 <span class="keywordflow">if</span> (low[j] > proj[j])
<a name="l00310"></a>00310 low[j] = proj[j];
<a name="l00311"></a>00311 <span class="keywordflow">if</span> (high[j] < proj[j])
<a name="l00312"></a>00312 high[j] = proj[j];
<a name="l00313"></a>00313 }
<a name="l00314"></a>00314 }
<a name="l00315"></a>00315
<a name="l00316"></a>00316 space_->freeState(s);
<a name="l00317"></a>00317
<a name="l00318"></a>00318 cellSizes_.resize(dim);
<a name="l00319"></a>00319 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0 ; j < dim ; ++j)
<a name="l00320"></a>00320 {
<a name="l00321"></a>00321 cellSizes_[j] = (high[j] - low[j]) / <a class="code" href="namespaceompl_1_1magic.html#a89c2a3791d4d4579c36593a70f00588d" title="When the cell sizes for a projection are automatically computed, this value defines the number of par...">magic::PROJECTION_DIMENSION_SPLITS</a>;
<a name="l00322"></a>00322 <span class="keywordflow">if</span> (cellSizes_[j] < std::numeric_limits<double>::epsilon())
<a name="l00323"></a>00323 {
<a name="l00324"></a>00324 cellSizes_[j] = 1.0;
<a name="l00325"></a>00325 msg_.warn(<span class="stringliteral">"Inferred cell size for dimension %u of a projection for state space %s is 0. Setting arbitrary value of 1 instead."</span>,
<a name="l00326"></a>00326 j, space_->getName().c_str());
<a name="l00327"></a>00327 }
<a name="l00328"></a>00328 }
<a name="l00329"></a>00329 }
<a name="l00330"></a>00330 }
<a name="l00331"></a>00331
<a name="l00332"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a53a89a6b5980089e884f83ae78453a71">00332</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a53a89a6b5980089e884f83ae78453a71" title="Perform configuration steps, if needed.">ompl::base::ProjectionEvaluator::setup</a>(<span class="keywordtype">void</span>)
<a name="l00333"></a>00333 {
<a name="l00334"></a>00334 <span class="keywordflow">if</span> (defaultCellSizes_)
<a name="l00335"></a>00335 defaultCellSizes();
<a name="l00336"></a>00336
<a name="l00337"></a>00337 <span class="keywordflow">if</span> ((cellSizes_.size() == 0 && getDimension() > 0) || cellSizesWereInferred_)
<a name="l00338"></a>00338 inferCellSizes();
<a name="l00339"></a>00339
<a name="l00340"></a>00340 checkCellSizes();
<a name="l00341"></a>00341 }
<a name="l00342"></a>00342
<a name="l00343"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#ad8ce42480db15d62a8996f569921aae9">00343</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#ad8ce42480db15d62a8996f569921aae9" title="Compute integer coordinates for a projection.">ompl::base::ProjectionEvaluator::computeCoordinates</a>(<span class="keyword">const</span> <a class="code" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b" title="The datatype for state projections. This class contains a real vector.">EuclideanProjection</a> &projection, <a class="code" href="namespaceompl_1_1base.html#a01cfb1e28af37bb139841342cb4afb0c" title="Grid cells corresponding to a projection value are described in terms of their coordinates.">ProjectionCoordinates</a> &coord)<span class="keyword"> const</span>
<a name="l00344"></a>00344 <span class="keyword"></span>{
<a name="l00345"></a>00345 computeCoordinatesHelper(cellSizes_, projection, coord);
<a name="l00346"></a>00346 }
<a name="l00347"></a>00347
<a name="l00348"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a811a6a659d6e5e694905f57e26d33d61">00348</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a811a6a659d6e5e694905f57e26d33d61" title="Print settings about this projection.">ompl::base::ProjectionEvaluator::printSettings</a>(std::ostream &out)<span class="keyword"> const</span>
<a name="l00349"></a>00349 <span class="keyword"></span>{
<a name="l00350"></a>00350 out << <span class="stringliteral">"Projection of dimension "</span> << getDimension() << std::endl;
<a name="l00351"></a>00351 out << <span class="stringliteral">"Cell sizes"</span>;
<a name="l00352"></a>00352 <span class="keywordflow">if</span> (cellSizesWereInferred_)
<a name="l00353"></a>00353 out << <span class="stringliteral">" (inferred by sampling)"</span>;
<a name="l00354"></a>00354 <span class="keywordflow">else</span>
<a name="l00355"></a>00355 {
<a name="l00356"></a>00356 <span class="keywordflow">if</span> (defaultCellSizes_)
<a name="l00357"></a>00357 out << <span class="stringliteral">" (computed defaults)"</span>;
<a name="l00358"></a>00358 <span class="keywordflow">else</span>
<a name="l00359"></a>00359 out << <span class="stringliteral">" (set by user)"</span>;
<a name="l00360"></a>00360 }
<a name="l00361"></a>00361 out << <span class="stringliteral">": ["</span>;
<a name="l00362"></a>00362 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < cellSizes_.size() ; ++i)
<a name="l00363"></a>00363 {
<a name="l00364"></a>00364 out << cellSizes_[i];
<a name="l00365"></a>00365 <span class="keywordflow">if</span> (i + 1 < cellSizes_.size())
<a name="l00366"></a>00366 out << <span class="charliteral">' '</span>;
<a name="l00367"></a>00367 }
<a name="l00368"></a>00368 out << <span class="charliteral">']'</span> << std::endl;
<a name="l00369"></a>00369 }
<a name="l00370"></a>00370
<a name="l00371"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a1713d626c4389e38dfba86ec0cf67443">00371</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a1713d626c4389e38dfba86ec0cf67443" title="Print a euclidean projection.">ompl::base::ProjectionEvaluator::printProjection</a>(<span class="keyword">const</span> <a class="code" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b" title="The datatype for state projections. This class contains a real vector.">EuclideanProjection</a> &projection, std::ostream &out)<span class="keyword"> const</span>
<a name="l00372"></a>00372 <span class="keyword"></span>{
<a name="l00373"></a>00373 out << projection << std::endl;
<a name="l00374"></a>00374 }
</pre></div></div>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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<a href="http://www.rice.edu">Rice University</a><br>
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