Class SubspaceProjectionEvaluator

Inheritance Relationships

Base Type

Class Documentation

class SubspaceProjectionEvaluator : public ompl::base::ProjectionEvaluator

If the projection for a CompoundStateSpace is supposed to be the same as the one for one of its included subspaces, this class facilitates selecting a projection of that subspace.

Public Functions

SubspaceProjectionEvaluator(const StateSpace *space, unsigned int index, ProjectionEvaluatorPtr projToUse = ProjectionEvaluatorPtr())

The constructor states that for space space, the projection to use is the same as the component at position index of space space. The actual projection to use can be specified by projToUse. If the projection is not specified, the default one for the subspace at position index is used.

virtual void setup() override

Perform configuration steps, if needed.

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

unsigned int index_

The index of the subspace from which to project.

ProjectionEvaluatorPtr proj_

The projection to use. This is either the same as specifiedProj_ or, if specifiedProj_ is not initialized, it is the default projection for the subspace at index index_.

ProjectionEvaluatorPtr specifiedProj_

The projection that is optionally specified by the user in the constructor argument (projToUse)