Class RealVectorIdentityProjectionEvaluator

Inheritance Relationships

Base Type

Class Documentation

class RealVectorIdentityProjectionEvaluator : public ompl::base::ProjectionEvaluator

Define the identity projection.

Public Functions

RealVectorIdentityProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes)

Initialize the identity projection evaluator for state space space. The indices of the kept components are in components and the cell sizes are in cellSizes.

RealVectorIdentityProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes)

Initialize the identity projection evaluator for state space space. The indices of the kept components are in components and the cell sizes are in cellSizes.

RealVectorIdentityProjectionEvaluator(const StateSpace *space)

Initialize the identity projection evaluator for state space space. The indices of the kept components are in components and the cell sizes are a tenth of the bounds from the state space.

RealVectorIdentityProjectionEvaluator(const StateSpacePtr &space)

Initialize the identity projection evaluator for state space space. The indices of the kept components are in components and the cell sizes are a tenth of the bounds from the state space.

virtual unsigned int getDimension() const override

Return the dimension of the projection defined by this evaluator.

virtual void defaultCellSizes() override

Set the default cell dimensions for this projection. The default implementation of this function is empty. setup() calls this function if no cell dimensions have been previously set.

virtual void setup() override

Perform configuration steps, if needed.

virtual void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override

Compute the projection as an array of double values.