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<!-- doxytag: class="ompl::base::ProjectionEvaluator" -->
<p>Abstract definition for a class computing projections to R<sup>n</sup>. Implicit integer grids are imposed on this projection space by setting cell sizes. Before use, the user must supply cell sizes for the integer grid (<a class="el" 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>). The implementation of this class is thread safe.
<a href="classompl_1_1base_1_1ProjectionEvaluator.html#details">More...</a></p>
<p><code>#include <<a class="el" href="ProjectionEvaluator_8h_source.html">ProjectionEvaluator.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::base::ProjectionEvaluator:</div>
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<div class="center"><img src="classompl_1_1base_1_1ProjectionEvaluator__inherit__graph.png" border="0" usemap="#ompl_1_1base_1_1ProjectionEvaluator_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1base_1_1ProjectionEvaluator_inherit__map" id="ompl_1_1base_1_1ProjectionEvaluator_inherit__map">
<area shape="rect" id="node3" href="classompl_1_1base_1_1RealVectorIdentityProjectionEvaluator.html" title="Define the identity projection." alt="" coords="272,5,587,35"/><area shape="rect" id="node5" href="classompl_1_1base_1_1RealVectorLinearProjectionEvaluator.html" title="Definition for a class computing linear projections (multiplication of a k-by-n matrix to the the Rn ..." alt="" coords="276,59,583,88"/><area shape="rect" id="node9" href="classompl_1_1base_1_1RealVectorOrthogonalProjectionEvaluator.html" title="Definition for a class computing orthogonal projections." alt="" coords="263,112,596,141"/><area shape="rect" id="node7" href="classompl_1_1base_1_1RealVectorRandomLinearProjectionEvaluator.html" title="Definition for a class computing a random linear projections." alt="" coords="647,59,1001,88"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1base_1_1ProjectionEvaluator-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac34c2c0327a221e0b382bb39e0d84ad4"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::ProjectionEvaluator" ref="ac34c2c0327a221e0b382bb39e0d84ad4" args="(const StateSpace *space)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#ac34c2c0327a221e0b382bb39e0d84ad4">ProjectionEvaluator</a> (const <a class="el" href="classompl_1_1base_1_1StateSpace.html">StateSpace</a> *space)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Construct a projection evaluator for a specific state space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9d34d1618b4a23bc0a3785fbe15f6fda"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::ProjectionEvaluator" ref="a9d34d1618b4a23bc0a3785fbe15f6fda" args="(const StateSpacePtr &space)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a9d34d1618b4a23bc0a3785fbe15f6fda">ProjectionEvaluator</a> (const <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html">StateSpacePtr</a> &space)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Construct a projection evaluator for a specific state space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0db0f7ebd64179ae0d11531cbe23cb8a"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::getDimension" ref="a0db0f7ebd64179ae0d11531cbe23cb8a" args="(void) const =0" -->
virtual unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a0db0f7ebd64179ae0d11531cbe23cb8a">getDimension</a> (void) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the dimension of the projection defined by this evaluator. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a748a31a8f4e5737e93fcd74a430b0baf"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::project" ref="a748a31a8f4e5737e93fcd74a430b0baf" args="(const State *state, EuclideanProjection &projection) const =0" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a748a31a8f4e5737e93fcd74a430b0baf">project</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state, <a class="el" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b">EuclideanProjection</a> &projection) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute the projection as an array of double values. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a159e26be9f83a75a001ad2d3ba477f71"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::setCellSizes" ref="a159e26be9f83a75a001ad2d3ba477f71" args="(const std::vector< double > &cellSizes)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a159e26be9f83a75a001ad2d3ba477f71">setCellSizes</a> (const std::vector< double > &cellSizes)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Define the size (in each dimension) of a grid cell. The number of sizes set here must be the same as the dimension of the projection computed by the projection evaluator. After a call to this function, <a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a53a89a6b5980089e884f83ae78453a71" title="Perform configuration steps, if needed.">setup()</a> will not call <a class="el" 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> or <a class="el" 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> any more. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4568561bad390a369af76955bc4c3592"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::userConfigured" ref="a4568561bad390a369af76955bc4c3592" args="(void) const " -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a4568561bad390a369af76955bc4c3592">userConfigured</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return true if any user configuration has been done to this projection evaluator (<a class="el" 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> was called) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a337a70efcf0e3917d3677707b2f5d51d"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::getCellSizes" ref="a337a70efcf0e3917d3677707b2f5d51d" args="(void) const " -->
const std::vector< double > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a337a70efcf0e3917d3677707b2f5d51d">getCellSizes</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the size (each dimension) of a grid cell. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a10fa3e518bd67a328b25a7b929093623"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::checkCellSizes" ref="a10fa3e518bd67a328b25a7b929093623" args="(void) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a10fa3e518bd67a328b25a7b929093623">checkCellSizes</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if cell dimensions match projection dimension. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5addd461944bb826e2968bfe412586c2"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::inferCellSizes" ref="a5addd461944bb826e2968bfe412586c2" args="(void)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5addd461944bb826e2968bfe412586c2">inferCellSizes</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sample the state space and decide on default cell sizes. This function is called by <a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a53a89a6b5980089e884f83ae78453a71" title="Perform configuration steps, if needed.">setup()</a> if no cell dsizes have been set and <a class="el" 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> does not fill the cell sizes either. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aba6614331495fa95c230f514140fd6e2"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::defaultCellSizes" ref="aba6614331495fa95c230f514140fd6e2" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#aba6614331495fa95c230f514140fd6e2">defaultCellSizes</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the default cell dimensions for this projection. The default implementation of this function is empty. <a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a53a89a6b5980089e884f83ae78453a71" title="Perform configuration steps, if needed.">setup()</a> calls this function if no cell dimensions have been previously set. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a53a89a6b5980089e884f83ae78453a71"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::setup" ref="a53a89a6b5980089e884f83ae78453a71" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a53a89a6b5980089e884f83ae78453a71">setup</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Perform configuration steps, if needed. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad8ce42480db15d62a8996f569921aae9"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::computeCoordinates" ref="ad8ce42480db15d62a8996f569921aae9" args="(const EuclideanProjection &projection, ProjectionCoordinates &coord) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#ad8ce42480db15d62a8996f569921aae9">computeCoordinates</a> (const <a class="el" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b">EuclideanProjection</a> &projection, <a class="el" href="namespaceompl_1_1base.html#a01cfb1e28af37bb139841342cb4afb0c">ProjectionCoordinates</a> &coord) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute integer coordinates for a projection. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a595d68385695e7d2eed24963bd44fbc2"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::computeCoordinates" ref="a595d68385695e7d2eed24963bd44fbc2" args="(const State *state, ProjectionCoordinates &coord) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a595d68385695e7d2eed24963bd44fbc2">computeCoordinates</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state, <a class="el" href="namespaceompl_1_1base.html#a01cfb1e28af37bb139841342cb4afb0c">ProjectionCoordinates</a> &coord) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute integer coordinates for a state. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a811a6a659d6e5e694905f57e26d33d61"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::printSettings" ref="a811a6a659d6e5e694905f57e26d33d61" args="(std::ostream &out=std::cout) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a811a6a659d6e5e694905f57e26d33d61">printSettings</a> (std::ostream &out=std::cout) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print settings about this projection. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1713d626c4389e38dfba86ec0cf67443"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::printProjection" ref="a1713d626c4389e38dfba86ec0cf67443" args="(const EuclideanProjection &projection, std::ostream &out=std::cout) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a1713d626c4389e38dfba86ec0cf67443">printProjection</a> (const <a class="el" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b">EuclideanProjection</a> &projection, std::ostream &out=std::cout) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print a euclidean projection. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5ecdb9c29409173a34c2efb7eed221a1"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::space_" ref="a5ecdb9c29409173a34c2efb7eed221a1" args="" -->
const <a class="el" href="classompl_1_1base_1_1StateSpace.html">StateSpace</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a5ecdb9c29409173a34c2efb7eed221a1">space_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The state space this projection operates on. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afdc4796fe612cf83f74d4b313c664443"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::cellSizes_" ref="afdc4796fe612cf83f74d4b313c664443" args="" -->
std::vector< double > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#afdc4796fe612cf83f74d4b313c664443">cellSizes_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The size of a cell, in every dimension of the projected space, in the implicitly defined integer grid. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a43fb61982ce66f9e431ebf3b9d0448b8"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::defaultCellSizes_" ref="a43fb61982ce66f9e431ebf3b9d0448b8" args="" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#a43fb61982ce66f9e431ebf3b9d0448b8">defaultCellSizes_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Flag indicating whether cell sizes have been set by the user, or whether they were inferred automatically. This flag becomes false if <a class="el" 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> is called. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aeb34ed364e5eb616fc7b099477a86e89"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::cellSizesWereInferred_" ref="aeb34ed364e5eb616fc7b099477a86e89" args="" -->
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#aeb34ed364e5eb616fc7b099477a86e89">cellSizesWereInferred_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Flag indicating whether projection cell sizes were automatically inferred. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aab7787aadbf5993b974f65098833d009"></a><!-- doxytag: member="ompl::base::ProjectionEvaluator::msg_" ref="aab7787aadbf5993b974f65098833d009" args="" -->
<a class="el" href="classompl_1_1msg_1_1Interface.html">msg::Interface</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionEvaluator.html#aab7787aadbf5993b974f65098833d009">msg_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The console interface. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Abstract definition for a class computing projections to R<sup>n</sup>. Implicit integer grids are imposed on this projection space by setting cell sizes. Before use, the user must supply cell sizes for the integer grid (<a class="el" 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>). The implementation of this class is thread safe. </p>
<p>Definition at line <a class="el" href="ProjectionEvaluator_8h_source.html#l00129">129</a> of file <a class="el" href="ProjectionEvaluator_8h_source.html">ProjectionEvaluator.h</a>.</p>
</div><hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/base/<a class="el" href="ProjectionEvaluator_8h_source.html">ProjectionEvaluator.h</a></li>
<li>src/ompl/base/src/<a class="el" href="ProjectionEvaluator_8cpp_source.html">ProjectionEvaluator.cpp</a></li>
</ul>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
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