Class RealVectorLinearProjectionEvaluator

Defined in File RealVectorStateProjections.h

Inheritance Relationships

Base Type

public ompl::base::ProjectionEvaluator (Class ProjectionEvaluator)

Derived Type

public ompl::base::RealVectorRandomLinearProjectionEvaluator (Class RealVectorRandomLinearProjectionEvaluator)

Class Documentation

class RealVectorLinearProjectionEvaluator : public ompl::base::ProjectionEvaluator 

Definition for a class computing linear projections (multiplication of a k-by-n matrix to the the Rⁿ vector state to produce an R^k projection. The multiplication matrix needs to be supplied as input.

Subclassed by ompl::base::RealVectorRandomLinearProjectionEvaluator

Public Functions

RealVectorLinearProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes, const ProjectionMatrix::Matrix &projection): Initialize a linear projection evaluator for state space space. The used projection matrix is projection and the cell sizes are cellSizes.

RealVectorLinearProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes, const ProjectionMatrix::Matrix &projection): Initialize a linear projection evaluator for state space space. The used projection matrix is projection and the cell sizes are cellSizes.

RealVectorLinearProjectionEvaluator(const StateSpace *space, const ProjectionMatrix::Matrix &projection): Initialize a linear projection evaluator for state space space. The used projection matrix is projection and the cell sizes are automatically inferred through sampling.

RealVectorLinearProjectionEvaluator(const StateSpacePtr &space, const ProjectionMatrix::Matrix &projection): Initialize a linear projection evaluator for state space space. The used projection matrix is projection and the cell sizes are automatically inferred through sampling.

virtual unsigned int getDimension() const override: Return the dimension of the projection defined by this evaluator.

virtual void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override: Compute the projection as an array of double values.

Protected Attributes

ProjectionMatrix projection_: The projection matrix.