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<div class="title">RealVectorStateProjections.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) 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>
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<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>
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<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">#include &quot;ompl/base/spaces/RealVectorStateProjections.h&quot;</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include &quot;ompl/util/Exception.h&quot;</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include &quot;ompl/tools/config/MagicConstants.h&quot;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &lt;cstring&gt;</span>
<a name="l00041"></a>00041 
<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         <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> checkSpaceType(<span class="keyword">const</span> StateSpace *m)
<a name="l00048"></a>00048         {
<a name="l00049"></a>00049             <span class="keywordflow">if</span> (!dynamic_cast&lt;const RealVectorStateSpace*&gt;(m))
<a name="l00050"></a>00050                 <span class="keywordflow">throw</span> Exception(<span class="stringliteral">&quot;Expected real vector state space for projection&quot;</span>);
<a name="l00051"></a>00051         }
<a name="l00052"></a>00052     }
<a name="l00053"></a>00053 }
<a name="l00055"></a>00055 
<a name="l00056"></a><a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a946eba69ff8d55f401bd0b4cb1effec2">00056</a> <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...">ompl::base::RealVectorLinearProjectionEvaluator::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&lt;double&gt; &amp;cellSizes,
<a name="l00057"></a>00057                                                                                      <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803" title="Datatype for projection matrices.">ProjectionMatrix::Matrix</a> &amp;projection) :
<a name="l00058"></a>00058     <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>(space)
<a name="l00059"></a>00059 {
<a name="l00060"></a>00060     checkSpaceType(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5ecdb9c29409173a34c2efb7eed221a1" title="The state space this projection operates on.">space_</a>);
<a name="l00061"></a>00061     <a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a787c82b4b59d7fa379040b1a65a82f8a" title="The projection matrix.">projection_</a>.<a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a0852751bba6e533c0e08792be5c55444" title="Projection matrix.">mat</a> = projection;
<a name="l00062"></a>00062     <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>(cellSizes);
<a name="l00063"></a>00063 }
<a name="l00064"></a>00064 
<a name="l00065"></a><a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#ac5e7af0faca4f18988429ed652004ef2">00065</a> <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...">ompl::base::RealVectorLinearProjectionEvaluator::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> &amp;space, <span class="keyword">const</span> std::vector&lt;double&gt; &amp;cellSizes,
<a name="l00066"></a>00066                                                                                      <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803" title="Datatype for projection matrices.">ProjectionMatrix::Matrix</a> &amp;projection) :
<a name="l00067"></a>00067     <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>(space)
<a name="l00068"></a>00068 {
<a name="l00069"></a>00069     checkSpaceType(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5ecdb9c29409173a34c2efb7eed221a1" title="The state space this projection operates on.">space_</a>);
<a name="l00070"></a>00070     <a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a787c82b4b59d7fa379040b1a65a82f8a" title="The projection matrix.">projection_</a>.<a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a0852751bba6e533c0e08792be5c55444" title="Projection matrix.">mat</a> = projection;
<a name="l00071"></a>00071     <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>(cellSizes);
<a name="l00072"></a>00072 }
<a name="l00073"></a>00073 
<a name="l00074"></a><a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a20910c41a78a5cdb0e4d509bd4ceee02">00074</a> <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...">ompl::base::RealVectorLinearProjectionEvaluator::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="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> &amp;projection) :
<a name="l00076"></a>00076     <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>(space)
<a name="l00077"></a>00077 {
<a name="l00078"></a>00078     checkSpaceType(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5ecdb9c29409173a34c2efb7eed221a1" title="The state space this projection operates on.">space_</a>);
<a name="l00079"></a>00079     <a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a787c82b4b59d7fa379040b1a65a82f8a" title="The projection matrix.">projection_</a>.<a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a0852751bba6e533c0e08792be5c55444" title="Projection matrix.">mat</a> = projection;
<a name="l00080"></a>00080 }
<a name="l00081"></a>00081 
<a name="l00082"></a><a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a15447ba55c7448f739f4c3a0be796081">00082</a> <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...">ompl::base::RealVectorLinearProjectionEvaluator::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> &amp;space,
<a name="l00083"></a>00083                                                                                      <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803" title="Datatype for projection matrices.">ProjectionMatrix::Matrix</a> &amp;projection) :
<a name="l00084"></a>00084     <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>(space)
<a name="l00085"></a>00085 {
<a name="l00086"></a>00086     checkSpaceType(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5ecdb9c29409173a34c2efb7eed221a1" title="The state space this projection operates on.">space_</a>);
<a name="l00087"></a>00087     <a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a787c82b4b59d7fa379040b1a65a82f8a" title="The projection matrix.">projection_</a>.<a class="code" href="classompl_1_1base_1_1ProjectionMatrix.html#a0852751bba6e533c0e08792be5c55444" title="Projection matrix.">mat</a> = projection;
<a name="l00088"></a>00088 }
<a name="l00089"></a>00089 
<a name="l00090"></a><a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html#a9b0012c55558270a7c8e061833fef665">00090</a> <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...">ompl::base::RealVectorOrthogonalProjectionEvaluator::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&lt;double&gt; &amp;cellSizes,
<a name="l00091"></a>00091                                                                                              <span class="keyword">const</span> std::vector&lt;unsigned int&gt; &amp;components) :
<a name="l00092"></a>00092     <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>(space), components_(components)
<a name="l00093"></a>00093 {
<a name="l00094"></a>00094     checkSpaceType(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5ecdb9c29409173a34c2efb7eed221a1" title="The state space this projection operates on.">space_</a>);
<a name="l00095"></a>00095     <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>(cellSizes);
<a name="l00096"></a>00096 }
<a name="l00097"></a>00097 
<a name="l00098"></a><a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html#adc36f7b3478cfb38893a3c223ba4f9bd">00098</a> <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...">ompl::base::RealVectorOrthogonalProjectionEvaluator::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> &amp;space, <span class="keyword">const</span> std::vector&lt;double&gt; &amp;cellSizes,
<a name="l00099"></a>00099                                                                                              <span class="keyword">const</span> std::vector&lt;unsigned int&gt; &amp;components) :
<a name="l00100"></a>00100     <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>(space), components_(components)
<a name="l00101"></a>00101 {
<a name="l00102"></a>00102     checkSpaceType(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5ecdb9c29409173a34c2efb7eed221a1" title="The state space this projection operates on.">space_</a>);
<a name="l00103"></a>00103     <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>(cellSizes);
<a name="l00104"></a>00104 }
<a name="l00105"></a>00105 
<a name="l00106"></a><a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html#a7ab7cb8dab53cc2ff8149f8e199781b8">00106</a> <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...">ompl::base::RealVectorOrthogonalProjectionEvaluator::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&lt;unsigned int&gt; &amp;components) :
<a name="l00107"></a>00107     <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>(space), components_(components)
<a name="l00108"></a>00108 {
<a name="l00109"></a>00109     checkSpaceType(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5ecdb9c29409173a34c2efb7eed221a1" title="The state space this projection operates on.">space_</a>);
<a name="l00110"></a>00110 }
<a name="l00111"></a>00111 
<a name="l00112"></a><a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html#aeeb1515076a142d670ffdb54443cf399">00112</a> <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...">ompl::base::RealVectorOrthogonalProjectionEvaluator::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> &amp;space, <span class="keyword">const</span> std::vector&lt;unsigned int&gt; &amp;components) :
<a name="l00113"></a>00113     <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>(space), components_(components)
<a name="l00114"></a>00114 {
<a name="l00115"></a>00115     checkSpaceType(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5ecdb9c29409173a34c2efb7eed221a1" title="The state space this projection operates on.">space_</a>);
<a name="l00116"></a>00116 }
<a name="l00117"></a>00117 
<a name="l00118"></a><a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html#a3cd0578c2e9225cd748bc0718d8e0eda">00118</a> <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...">ompl::base::RealVectorOrthogonalProjectionEvaluator::defaultCellSizes</a>(<span class="keywordtype">void</span>)
<a name="l00119"></a>00119 {
<a name="l00120"></a>00120     <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">RealVectorBounds</a> &amp;bounds = space_-&gt;as&lt;<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>&gt;()-&gt;getBounds();
<a name="l00121"></a>00121     cellSizes_.resize(components_.size());
<a name="l00122"></a>00122     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; cellSizes_.size() ; ++i)
<a name="l00123"></a>00123         cellSizes_[i] = (bounds.<a class="code" href="classompl_1_1base_1_1RealVectorBounds.html#a06827561804a768d6ee86a20a664153c" title="Upper bound.">high</a>[components_[i]] - bounds.<a class="code" href="classompl_1_1base_1_1RealVectorBounds.html#a36ebebb6a9e116093581afbd07425baa" title="Lower bound.">low</a>[components_[i]]) / <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="l00124"></a>00124 }
<a name="l00125"></a>00125 
<a name="l00126"></a><a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a64aa21c83e50134232fdbb8ffc39a3df">00126</a> <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.">ompl::base::RealVectorLinearProjectionEvaluator::getDimension</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00127"></a>00127 <span class="keyword"></span>{
<a name="l00128"></a>00128     <span class="keywordflow">return</span> projection_.mat.size1();
<a name="l00129"></a>00129 }
<a name="l00130"></a>00130 
<a name="l00131"></a><a class="code" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html#a4f7edcc0966059982cac25c3351976fb">00131</a> <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.">ompl::base::RealVectorLinearProjectionEvaluator::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> &amp;projection)<span class="keyword"> const</span>
<a name="l00132"></a>00132 <span class="keyword"></span>{
<a name="l00133"></a>00133     projection_.project(state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html" title="The definition of a state in Rn">RealVectorStateSpace::StateType</a>&gt;()-&gt;<a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#a916575eb76687da3b47a2d9699128498" title="The value of the actual vector in Rn">values</a>, projection);
<a name="l00134"></a>00134 }
<a name="l00135"></a>00135 
<a name="l00136"></a><a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html#ae1cd4cb18770ea3355e60c0a7f4a5234">00136</a> <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.">ompl::base::RealVectorOrthogonalProjectionEvaluator::getDimension</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00137"></a>00137 <span class="keyword"></span>{
<a name="l00138"></a>00138     <span class="keywordflow">return</span> components_.size();
<a name="l00139"></a>00139 }
<a name="l00140"></a>00140 
<a name="l00141"></a><a class="code" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html#a4123acbf3ac5a966d7cee039697bcd4e">00141</a> <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.">ompl::base::RealVectorOrthogonalProjectionEvaluator::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> &amp;projection)<span class="keyword"> const</span>
<a name="l00142"></a>00142 <span class="keyword"></span>{
<a name="l00143"></a>00143     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; components_.size() ; ++i)
<a name="l00144"></a>00144         projection(i) = state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html" title="The definition of a state in Rn">RealVectorStateSpace::StateType</a>&gt;()-&gt;values[components_[i]];
<a name="l00145"></a>00145 }
<a name="l00146"></a>00146 
<a name="l00147"></a><a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#ae3e16c0a046fc65e07ef6ea5b0b14cdf">00147</a> <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...">ompl::base::RealVectorIdentityProjectionEvaluator::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&lt;double&gt; &amp;cellSizes) :
<a name="l00148"></a>00148     <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>(space)
<a name="l00149"></a>00149 {
<a name="l00150"></a>00150     checkSpaceType(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5ecdb9c29409173a34c2efb7eed221a1" title="The state space this projection operates on.">space_</a>);
<a name="l00151"></a>00151     <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>(cellSizes);
<a name="l00152"></a>00152 }
<a name="l00153"></a>00153 
<a name="l00154"></a><a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#acb78c07ffa0e9c4168e3c3dcc1e7fa9f">00154</a> <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...">ompl::base::RealVectorIdentityProjectionEvaluator::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="l00155"></a>00155     <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>(space)
<a name="l00156"></a>00156 {
<a name="l00157"></a>00157     checkSpaceType(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5ecdb9c29409173a34c2efb7eed221a1" title="The state space this projection operates on.">space_</a>);
<a name="l00158"></a>00158 }
<a name="l00159"></a>00159 
<a name="l00160"></a><a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#a5863e1c1ad256af0ab994e004ee6803c">00160</a> <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...">ompl::base::RealVectorIdentityProjectionEvaluator::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> &amp;space, <span class="keyword">const</span> std::vector&lt;double&gt; &amp;cellSizes) :
<a name="l00161"></a>00161     <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>(space)
<a name="l00162"></a>00162 {
<a name="l00163"></a>00163     checkSpaceType(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5ecdb9c29409173a34c2efb7eed221a1" title="The state space this projection operates on.">space_</a>);
<a name="l00164"></a>00164     <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>(cellSizes);
<a name="l00165"></a>00165 }
<a name="l00166"></a>00166 
<a name="l00167"></a><a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#afa2da8616bef27bfdc2a68b86fe66700">00167</a> <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...">ompl::base::RealVectorIdentityProjectionEvaluator::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> &amp;space) :
<a name="l00168"></a>00168     <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>(space)
<a name="l00169"></a>00169 {
<a name="l00170"></a>00170     checkSpaceType(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5ecdb9c29409173a34c2efb7eed221a1" title="The state space this projection operates on.">space_</a>);
<a name="l00171"></a>00171 }
<a name="l00172"></a>00172 
<a name="l00173"></a><a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#a04dc95785eb0b64e0d280f0daaa9bee3">00173</a> <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...">ompl::base::RealVectorIdentityProjectionEvaluator::defaultCellSizes</a>(<span class="keywordtype">void</span>)
<a name="l00174"></a>00174 {
<a name="l00175"></a>00175     <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">RealVectorBounds</a> &amp;bounds = space_-&gt;as&lt;<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>&gt;()-&gt;getBounds();
<a name="l00176"></a>00176     cellSizes_.resize(getDimension());
<a name="l00177"></a>00177     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; cellSizes_.size() ; ++i)
<a name="l00178"></a>00178         cellSizes_[i] = (bounds.<a class="code" href="classompl_1_1base_1_1RealVectorBounds.html#a06827561804a768d6ee86a20a664153c" title="Upper bound.">high</a>[i] - bounds.<a class="code" href="classompl_1_1base_1_1RealVectorBounds.html#a36ebebb6a9e116093581afbd07425baa" title="Lower bound.">low</a>[i]) / <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="l00179"></a>00179 }
<a name="l00180"></a>00180 
<a name="l00181"></a><a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#a0aa8fbb18e9a36f8c728477722a6de6f">00181</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#a0aa8fbb18e9a36f8c728477722a6de6f" title="Perform configuration steps, if needed.">ompl::base::RealVectorIdentityProjectionEvaluator::setup</a>(<span class="keywordtype">void</span>)
<a name="l00182"></a>00182 {
<a name="l00183"></a>00183     copySize_ = getDimension() * <span class="keyword">sizeof</span>(double);
<a name="l00184"></a>00184     <a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a53a89a6b5980089e884f83ae78453a71" title="Perform configuration steps, if needed.">ProjectionEvaluator::setup</a>();
<a name="l00185"></a>00185 }
<a name="l00186"></a>00186 
<a name="l00187"></a><a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#a2c896827529cd970ff97759c35255d4a">00187</a> <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.">ompl::base::RealVectorIdentityProjectionEvaluator::getDimension</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00188"></a>00188 <span class="keyword"></span>{
<a name="l00189"></a>00189     <span class="keywordflow">return</span> space_-&gt;getDimension();
<a name="l00190"></a>00190 }
<a name="l00191"></a>00191 
<a name="l00192"></a><a class="code" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html#ac73a972f7103dd3d18af10e46bd665e1">00192</a> <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.">ompl::base::RealVectorIdentityProjectionEvaluator::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> &amp;projection)<span class="keyword"> const</span>
<a name="l00193"></a>00193 <span class="keyword"></span>{
<a name="l00194"></a>00194     memcpy(&amp;projection(0), state-&gt;<a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a>&lt;<a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html" title="The definition of a state in Rn">RealVectorStateSpace::StateType</a>&gt;()-&gt;<a class="code" href="classompl_1_1base_1_1RealVectorStateSpace_1_1StateType.html#a916575eb76687da3b47a2d9699128498" title="The value of the actual vector in Rn">values</a>, copySize_);
<a name="l00195"></a>00195 }
</pre></div></div>
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