ProjectionEvaluator.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, Rice University
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Rice University nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: Ioan Sucan */

#ifndef OMPL_BASE_PROJECTION_EVALUATOR_
#define OMPL_BASE_PROJECTION_EVALUATOR_

#include "ompl/base/State.h"
#include "ompl/util/ClassForward.h"
#include "ompl/util/Console.h"
#include <vector>
#include <valarray>
#include <iostream>
#include <boost/noncopyable.hpp>

namespace ompl
{

    namespace base
    {

        typedef std::vector<int> ProjectionCoordinates;

        class EuclideanProjection
        {
        public:

            EuclideanProjection(unsigned int n) : values(new double[n])
            {
            }

            ~EuclideanProjection(void)
            {
                delete[] values;
            }

            double operator[](unsigned int i) const
            {
                return values[i];
            }

            double& operator[](unsigned int i)
            {
                return values[i];
            }

            double *values;
        };

        class ProjectionMatrix
        {
        public:

            typedef std::vector< std::valarray<double> > Matrix;

            static Matrix ComputeRandom(const unsigned int from, const unsigned int to, const std::vector<double> &scale);

            static Matrix ComputeRandom(const unsigned int from, const unsigned int to);

            void computeRandom(const unsigned int from, const unsigned int to, const std::vector<double> &scale);

            void computeRandom(const unsigned int from, const unsigned int to);

            void project(const double *from, double *to) const;

            void print(std::ostream &out = std::cout) const;

            Matrix mat;
        };

        ClassForward(StateSpace);

        ClassForward(ProjectionEvaluator);

        class ProjectionEvaluator : private boost::noncopyable
        {
        public:

            ProjectionEvaluator(const StateSpace *space) : space_(space), defaultCellSizes_(true), cellSizesWereInferred_(false)
            {
            }

            ProjectionEvaluator(const StateSpacePtr &space) : space_(space.get()), defaultCellSizes_(true), cellSizesWereInferred_(false)
            {
            }

            virtual ~ProjectionEvaluator(void)
            {
            }

            virtual unsigned int getDimension(void) const = 0;

            virtual void project(const State *state, EuclideanProjection &projection) const = 0;

            void setCellSizes(const std::vector<double> &cellSizes);

            bool userConfigured(void) const;

            const std::vector<double>& getCellSizes(void) const
            {
                return cellSizes_;
            }

            void checkCellSizes(void) const;

            void inferCellSizes(void);

            void computeCellSizes(const std::vector<const State*> &states);

            virtual void defaultCellSizes(void);

            virtual void setup(void);

            void computeCoordinates(const EuclideanProjection &projection, ProjectionCoordinates &coord) const;

            void computeCoordinates(const State *state, ProjectionCoordinates &coord) const
            {
                EuclideanProjection projection(getDimension());
                project(state, projection);
                computeCoordinates(projection, coord);
            }

            virtual void printSettings(std::ostream &out = std::cout) const;

            virtual void printProjection(const EuclideanProjection &projection, std::ostream &out = std::cout) const;

        protected:

            const StateSpace *space_;

            std::vector<double>  cellSizes_;

            bool                 defaultCellSizes_;

            bool                 cellSizesWereInferred_;

            msg::Interface       msg_;
        };

    }

}

#endif

---

ompl
Author(s): Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu
autogenerated on Fri Jan 11 09:33:19 2013