RealVectorStateProjections.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_SPACES_REAL_VECTOR_STATE_PROJECTIONS_
#define OMPL_BASE_SPACES_REAL_VECTOR_STATE_PROJECTIONS_

#include "ompl/base/ProjectionEvaluator.h"
#include "ompl/base/spaces/RealVectorStateSpace.h"

namespace ompl
{
    namespace base
    {

        class RealVectorLinearProjectionEvaluator : public ProjectionEvaluator
        {
        public:

            RealVectorLinearProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes,
                                                const ProjectionMatrix::Matrix &projection);

            RealVectorLinearProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes,
                                                const ProjectionMatrix::Matrix &projection);

            RealVectorLinearProjectionEvaluator(const StateSpace *space,
                                                const ProjectionMatrix::Matrix &projection);

            RealVectorLinearProjectionEvaluator(const StateSpacePtr &space,
                                                const ProjectionMatrix::Matrix &projection);

            virtual unsigned int getDimension(void) const;

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

        protected:

            ProjectionMatrix projection_;

        };

        class RealVectorRandomLinearProjectionEvaluator : public RealVectorLinearProjectionEvaluator
        {
        public:

            RealVectorRandomLinearProjectionEvaluator(const StateSpace *space, const std::vector<double> &cellSizes) :
                RealVectorLinearProjectionEvaluator(space, cellSizes, ProjectionMatrix::ComputeRandom(space->getDimension(), cellSizes.size()))
            {
            }

            RealVectorRandomLinearProjectionEvaluator(const StateSpacePtr &space, const std::vector<double> &cellSizes) :
                RealVectorLinearProjectionEvaluator(space, cellSizes, ProjectionMatrix::ComputeRandom(space->getDimension(), cellSizes.size()))
            {
            }

            RealVectorRandomLinearProjectionEvaluator(const StateSpace *space, unsigned int dim) :
                RealVectorLinearProjectionEvaluator(space, ProjectionMatrix::ComputeRandom(space->getDimension(), dim,
                                                                                           space->as<RealVectorStateSpace>()->getBounds().getDifference()))
            {
            }

            RealVectorRandomLinearProjectionEvaluator(const StateSpacePtr &space, unsigned int dim) :
                RealVectorLinearProjectionEvaluator(space, ProjectionMatrix::ComputeRandom(space->getDimension(), dim,
                                                                                           space->as<RealVectorStateSpace>()->getBounds().getDifference()))
            {
            }

        };

        class RealVectorOrthogonalProjectionEvaluator : public ProjectionEvaluator
        {
        public:

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

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

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

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

            virtual unsigned int getDimension(void) const;

            virtual void defaultCellSizes(void);

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

        protected:

            std::vector<unsigned int> components_;

        };

        class RealVectorIdentityProjectionEvaluator : public ProjectionEvaluator
        {
        public:

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

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

            RealVectorIdentityProjectionEvaluator(const StateSpace *space);

            RealVectorIdentityProjectionEvaluator(const StateSpacePtr &space);

            virtual unsigned int getDimension(void) const;

            virtual void defaultCellSizes(void);

            virtual void setup(void);

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

        private:

            std::size_t copySize_;

        };

    }
}
#endif

---

ompl
Author(s): Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu
autogenerated on Fri Jan 11 09:33:20 2013