Sophie

Sophie

distrib > Fedora > 14 > x86_64 > media > updates > by-pkgid > e7618febbb9cbed15bb79e326774c050 > files > 226

ompl-devel-0.9.5-1.fc14.i686.rpm

<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml; charset=UTF-8"/>
<title>OMPL: src/ompl/base/ProjectionEvaluator.h Source File</title>
<meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki">
<link rel="stylesheet" href="../css/screen.css" type="text/css" media="screen, projection">
<link rel="stylesheet" href="../css/print.css" type="text/css" media="print">
<!--[if lt IE 7]>
<script type="text/javascript" src="../js/jquery/jquery.js"></script>
<script type="text/javascript" src="../js/jquery/jquery.dropdown.js"></script>
<![endif]-->
<script type="text/javaScript" src="search/search.js"></script>
<script type="text/javascript">
  var _gaq = _gaq || [];
  _gaq.push(['_setAccount', 'UA-9156598-2']);
  _gaq.push(['_trackPageview']);
  (function() {
    var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true;
    ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js';
    var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s);
  })();
</script>
</head>
<body onload='searchBox.OnSelectItem(0);'>
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search API');
--></script>
<div class="navigation" id="top">
  <div class="tabs" id="ompltitle">
    <ul class="tablist">
      <li>The Open Motion Planning Library</li>
      <li id="searchli">
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search API" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)"
               onblur="searchBox.OnSearchFieldFocus(false)"
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>

  <ul id="nav" class="dropdown">
    <li class="first"><a href="index.html">Home</a></li>
    <li><a href="download.html">Download</a></li>
    <li><a href="documentation.html">Documentation</a></li>
    <li><span class="dir">Code API</span>
      <ul>
        <li><a href="api_overview.html">API Overview</a></li>
        <li><a href="namespaces.html">Namespaces</a></li>
        <li><a href="annotated.html">Classes</a></li>
        <li><a href="files.html">Files</a></li>
        <li><a href="dirs.html">Directories</a></li>
      </ul>
    </li>
    <li><span class="dir">Community</span>
      <ul>
        <li><a href="developers.html">Developers</a></li>
        <li><a href="thirdparty.html">Contributions</a></li>
        <li><a href="education.html">Education</a></li>
        <li><a href="gallery.html">Gallery</a></li>
      </ul>
    </li>
    <li><span class="dir">About</span>
      <ul>
        <li><a href="license.html">License</a></li>
        <li><a href="citations.html">Citations</a></li>
        <li><a href="acknowledgements.html">Acknowledgments</a></li>
        <li><a href="contact.html">Contact Us</a></li>
      </ul>
    </li>
  </ul>
</div>

<!--- window showing the filter options -->
<div id="MSearchSelectWindow"
  onmouseover="return searchBox.OnSearchSelectShow()"
  onmouseout="return searchBox.OnSearchSelectHide()"
  onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark">&#160;</span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark">&#160;</span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark">&#160;</span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark">&#160;</span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark">&#160;</span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark">&#160;</span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark">&#160;</span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark">&#160;</span>Enumerator</a></div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
  <iframe src="" frameborder="0"name="MSearchResults" id="MSearchResults"></iframe>
</div>

<div class="container">
  <div class="span-22 push-2 first last">
  <div>
<!-- Generated by Doxygen 1.7.4 -->
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search');
--></script>
  <div id="nav-path" class="navpath">
    <ul>
      <li class="navelem"><a class="el" href="dir_f5421e52a658cd938113ed6044324834.html">src</a>      </li>
      <li class="navelem"><a class="el" href="dir_ae92c2ff78847f0cb49b545f9089bbbc.html">ompl</a>      </li>
      <li class="navelem"><a class="el" href="dir_40bc83a902349ad67ef9d1cb49964511.html">base</a>      </li>
    </ul>
  </div>
</div>
<div class="header">
  <div class="headertitle">
<div class="title">ProjectionEvaluator.h</div>  </div>
</div>
<div class="contents">
<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">*  &quot;AS IS&quot; 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_PROJECTION_EVALUATOR_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_BASE_PROJECTION_EVALUATOR_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/base/State.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;ompl/util/ClassForward.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &quot;ompl/util/Console.h&quot;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &lt;vector&gt;</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include &lt;valarray&gt;</span>
<a name="l00045"></a>00045 <span class="preprocessor">#include &lt;iostream&gt;</span>
<a name="l00046"></a>00046 <span class="preprocessor">#include &lt;boost/noncopyable.hpp&gt;</span>
<a name="l00047"></a>00047 <span class="preprocessor">#include &lt;boost/numeric/ublas/matrix.hpp&gt;</span>
<a name="l00048"></a>00048 
<a name="l00049"></a>00049 <span class="keyword">namespace </span>ompl
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051 
<a name="l00052"></a>00052     <span class="keyword">namespace </span>base
<a name="l00053"></a>00053     {
<a name="l00054"></a>00054 
<a name="l00056"></a><a class="code" href="namespaceompl_1_1base.html#a01cfb1e28af37bb139841342cb4afb0c">00056</a>         <span class="keyword">typedef</span> std::vector&lt;int&gt; <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>;
<a name="l00057"></a>00057 
<a name="l00059"></a><a class="code" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b">00059</a>         <span class="keyword">typedef</span> boost::numeric::ublas::vector&lt;double&gt; <a class="code" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b" title="The datatype for state projections. This class contains a real vector.">EuclideanProjection</a>;
<a name="l00060"></a>00060 
<a name="l00061"></a>00061 
<a name="l00065"></a><a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html">00065</a>         <span class="keyword">class </span><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 name="l00066"></a>00066         {
<a name="l00067"></a>00067         <span class="keyword">public</span>:
<a name="l00068"></a>00068 
<a name="l00070"></a><a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803">00070</a>             <span class="keyword">typedef</span> boost::numeric::ublas::matrix&lt;double&gt; <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803" title="Datatype for projection matrices.">Matrix</a>;
<a name="l00071"></a>00071 
<a name="l00087"></a>00087             <span class="keyword">static</span> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803" title="Datatype for projection matrices.">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 ...">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&lt;double&gt; &amp;scale);
<a name="l00088"></a>00088 
<a name="l00097"></a>00097             <span class="keyword">static</span> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803" title="Datatype for projection matrices.">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 ...">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="l00098"></a>00098 
<a name="l00100"></a>00100             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a5d6ba2d6abcc7ee055adaacf3699adf3" title="Wrapper for ComputeRandom(from, to, scale)">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&lt;double&gt; &amp;scale);
<a name="l00101"></a>00101 
<a name="l00103"></a>00103             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a5d6ba2d6abcc7ee055adaacf3699adf3" title="Wrapper for ComputeRandom(from, to, scale)">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="l00104"></a>00104 
<a name="l00106"></a>00106             <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.">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>&amp; to) <span class="keyword">const</span>;
<a name="l00107"></a>00107 
<a name="l00109"></a>00109             <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.">print</a>(std::ostream &amp;out = std::cout) <span class="keyword">const</span>;
<a name="l00110"></a>00110 
<a name="l00112"></a><a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a0852751bba6e533c0e08792be5c55444">00112</a>             <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803" title="Datatype for projection matrices.">Matrix</a> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a0852751bba6e533c0e08792be5c55444" title="Projection matrix.">mat</a>;
<a name="l00113"></a>00113         };
<a name="l00114"></a>00114 
<a name="l00115"></a>00115         <a class="code" href="namespaceompl_1_1base.html#a746ce4d50a7f41d386a33d2a9ed069f8" title="Forward declaration of ompl::base::Goal.">ClassForward</a>(<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>);
<a name="l00116"></a>00116 
<a name="l00118"></a>00118         <a class="code" href="namespaceompl_1_1base.html#a746ce4d50a7f41d386a33d2a9ed069f8" title="Forward declaration of ompl::base::Goal.">ClassForward</a>(<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="l00119"></a>00119 
<a name="l00129"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html">00129</a>         <span class="keyword">class </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> : <span class="keyword">private</span> boost::noncopyable
<a name="l00130"></a>00130         {
<a name="l00131"></a>00131         <span class="keyword">public</span>:
<a name="l00132"></a>00132 
<a name="l00134"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#ac34c2c0327a221e0b382bb39e0d84ad4">00134</a>             <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#ac34c2c0327a221e0b382bb39e0d84ad4" title="Construct a projection evaluator for a specific state space.">ProjectionEvaluator</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 class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5ecdb9c29409173a34c2efb7eed221a1" title="The state space this projection operates on.">space_</a>(space), <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a43fb61982ce66f9e431ebf3b9d0448b8" title="Flag indicating whether cell sizes have been set by the user, or whether they were inferred automatic...">defaultCellSizes_</a>(true), <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#aeb34ed364e5eb616fc7b099477a86e89" title="Flag indicating whether projection cell sizes were automatically inferred.">cellSizesWereInferred_</a>(false)
<a name="l00135"></a>00135             {
<a name="l00136"></a>00136             }
<a name="l00137"></a>00137 
<a name="l00139"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a9d34d1618b4a23bc0a3785fbe15f6fda">00139</a>             <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#ac34c2c0327a221e0b382bb39e0d84ad4" title="Construct a projection evaluator for a specific state space.">ProjectionEvaluator</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> &amp;space) : <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5ecdb9c29409173a34c2efb7eed221a1" title="The state space this projection operates on.">space_</a>(space.get()), <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a43fb61982ce66f9e431ebf3b9d0448b8" title="Flag indicating whether cell sizes have been set by the user, or whether they were inferred automatic...">defaultCellSizes_</a>(true), <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#aeb34ed364e5eb616fc7b099477a86e89" title="Flag indicating whether projection cell sizes were automatically inferred.">cellSizesWereInferred_</a>(false)
<a name="l00140"></a>00140             {
<a name="l00141"></a>00141             }
<a name="l00142"></a>00142 
<a name="l00143"></a>00143             <span class="keyword">virtual</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>(<span class="keywordtype">void</span>)
<a name="l00144"></a>00144             {
<a name="l00145"></a>00145             }
<a name="l00146"></a>00146 
<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_1ProjectionEvaluator.html#a0db0f7ebd64179ae0d11531cbe23cb8a" title="Return the dimension of the projection defined by this evaluator.">getDimension</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span> = 0;
<a name="l00149"></a>00149 
<a name="l00151"></a>00151             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a748a31a8f4e5737e93fcd74a430b0baf" title="Compute the projection as an array of double values.">project</a>(<span class="keyword">const</span> State *state, <a class="code" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b" title="The datatype for state projections. This class contains a real vector.">EuclideanProjection</a> &amp;projection) <span class="keyword">const</span> = 0;
<a name="l00152"></a>00152 
<a name="l00160"></a>00160             <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 ...">setCellSizes</a>(<span class="keyword">const</span> std::vector&lt;double&gt; &amp;cellSizes);
<a name="l00161"></a>00161 
<a name="l00163"></a>00163             <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 ...">userConfigured</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00164"></a>00164 
<a name="l00166"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a337a70efcf0e3917d3677707b2f5d51d">00166</a>             <span class="keyword">const</span> std::vector&lt;double&gt;&amp; <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a337a70efcf0e3917d3677707b2f5d51d" title="Get the size (each dimension) of a grid cell.">getCellSizes</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00167"></a>00167 <span class="keyword">            </span>{
<a name="l00168"></a>00168                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#afdc4796fe612cf83f74d4b313c664443" title="The size of a cell, in every dimension of the projected space, in the implicitly defined integer grid...">cellSizes_</a>;
<a name="l00169"></a>00169             }
<a name="l00170"></a>00170 
<a name="l00172"></a>00172             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a10fa3e518bd67a328b25a7b929093623" title="Check if cell dimensions match projection dimension.">checkCellSizes</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00173"></a>00173 
<a name="l00179"></a>00179             <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...">inferCellSizes</a>(<span class="keywordtype">void</span>);
<a name="l00180"></a>00180 
<a name="l00185"></a>00185             <span class="keyword">virtual</span> <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...">defaultCellSizes</a>(<span class="keywordtype">void</span>);
<a name="l00186"></a>00186 
<a name="l00188"></a>00188             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a53a89a6b5980089e884f83ae78453a71" title="Perform configuration steps, if needed.">setup</a>(<span class="keywordtype">void</span>);
<a name="l00189"></a>00189 
<a name="l00191"></a>00191             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#ad8ce42480db15d62a8996f569921aae9" title="Compute integer coordinates for a projection.">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> &amp;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> &amp;coord) <span class="keyword">const</span>;
<a name="l00192"></a>00192 
<a name="l00194"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a595d68385695e7d2eed24963bd44fbc2">00194</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#ad8ce42480db15d62a8996f569921aae9" title="Compute integer coordinates for a projection.">computeCoordinates</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#a01cfb1e28af37bb139841342cb4afb0c" title="Grid cells corresponding to a projection value are described in terms of their coordinates.">ProjectionCoordinates</a> &amp;coord)<span class="keyword"> const</span>
<a name="l00195"></a>00195 <span class="keyword">            </span>{
<a name="l00196"></a>00196                 <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="classompl_1_1base_1_1ProjectionEvaluator.html#a0db0f7ebd64179ae0d11531cbe23cb8a" title="Return the dimension of the projection defined by this evaluator.">getDimension</a>());
<a name="l00197"></a>00197                 <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a748a31a8f4e5737e93fcd74a430b0baf" title="Compute the projection as an array of double values.">project</a>(state, projection);
<a name="l00198"></a>00198                 <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#ad8ce42480db15d62a8996f569921aae9" title="Compute integer coordinates for a projection.">computeCoordinates</a>(projection, coord);
<a name="l00199"></a>00199             }
<a name="l00200"></a>00200 
<a name="l00202"></a>00202             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a811a6a659d6e5e694905f57e26d33d61" title="Print settings about this projection.">printSettings</a>(std::ostream &amp;out = std::cout) <span class="keyword">const</span>;
<a name="l00203"></a>00203 
<a name="l00205"></a>00205             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a1713d626c4389e38dfba86ec0cf67443" title="Print a euclidean projection.">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> &amp;projection, std::ostream &amp;out = std::cout) <span class="keyword">const</span>;
<a name="l00206"></a>00206 
<a name="l00207"></a>00207         <span class="keyword">protected</span>:
<a name="l00208"></a>00208 
<a name="l00210"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5ecdb9c29409173a34c2efb7eed221a1">00210</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>    *<a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5ecdb9c29409173a34c2efb7eed221a1" title="The state space this projection operates on.">space_</a>;
<a name="l00211"></a>00211 
<a name="l00215"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#afdc4796fe612cf83f74d4b313c664443">00215</a>             std::vector&lt;double&gt;  <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#afdc4796fe612cf83f74d4b313c664443" title="The size of a cell, in every dimension of the projected space, in the implicitly defined integer grid...">cellSizes_</a>;
<a name="l00216"></a>00216 
<a name="l00221"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a43fb61982ce66f9e431ebf3b9d0448b8">00221</a>             <span class="keywordtype">bool</span>                 <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a43fb61982ce66f9e431ebf3b9d0448b8" title="Flag indicating whether cell sizes have been set by the user, or whether they were inferred automatic...">defaultCellSizes_</a>;
<a name="l00222"></a>00222 
<a name="l00225"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#aeb34ed364e5eb616fc7b099477a86e89">00225</a>             <span class="keywordtype">bool</span>                 <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#aeb34ed364e5eb616fc7b099477a86e89" title="Flag indicating whether projection cell sizes were automatically inferred.">cellSizesWereInferred_</a>;
<a name="l00226"></a>00226 
<a name="l00228"></a><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#aab7787aadbf5993b974f65098833d009">00228</a>             <a class="code" href="classompl_1_1msg_1_1Interface.html" title="The piece of code that desires interaction with an action or an output handler should use an instance...">msg::Interface</a>       <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#aab7787aadbf5993b974f65098833d009" title="The console interface.">msg_</a>;
<a name="l00229"></a>00229         };
<a name="l00230"></a>00230 
<a name="l00231"></a>00231     }
<a name="l00232"></a>00232 
<a name="l00233"></a>00233 }
<a name="l00234"></a>00234 
<a name="l00235"></a>00235 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark">&#160;</span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark">&#160;</span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark">&#160;</span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark">&#160;</span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark">&#160;</span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark">&#160;</span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark">&#160;</span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark">&#160;</span>Enumerator</a></div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

</div>

<div class="footer span-22 push-2 last">
  <a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> &bull;
  <a href="http://www.cs.rice.edu">Department of Computer Science</a> &bull;
  <a href="http://www.rice.edu">Rice University</a><br>
  <div class="gray">Generated on Sun Oct 9 2011 23:04:39 by&#160;<a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
</div>
</div>
</body>
</html>

Perl :: Catalyst :: PostgreSQL :: RPM Valid HTML 4.01 Transitional