Class RealVectorOrthogonalProjectionEvaluator

Inheritance Relationships

Base Type

Class Documentation

class RealVectorOrthogonalProjectionEvaluator : public ompl::base::ProjectionEvaluator

Definition for a class computing orthogonal projections.

Public Functions

RealVectorOrthogonalProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes, std::vector<unsigned int> components)

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

RealVectorOrthogonalProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes, std::vector<unsigned int> components)

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

RealVectorOrthogonalProjectionEvaluator(const StateSpace *space, std::vector<unsigned int> components)

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

RealVectorOrthogonalProjectionEvaluator(const StateSpacePtr &space, std::vector<unsigned int> components)

Initialize an orthogonal projection evaluator for state space space. The indices of the kept components are in components and the cell sizes are a tenth of the corresponding 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 project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override

Compute the projection as an array of double values.

Protected Functions

void copyBounds()

Fill bounds_ with bounds from the state space.

Protected Attributes

std::vector<unsigned int> components_

The set of components selected by the projection.