ompl_ros_projection_evaluator.h
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00034 
00035 #ifndef OMPL_ROS_PROJECTION_EVALUATOR_
00036 #define OMPL_ROS_PROJECTION_EVALUATOR_
00037 
00038 #include <ompl_ros_interface/helpers/ompl_ros_conversions.h>
00039 #include <ompl_ros_interface/helpers/ompl_ros_exception.h>
00040 
00041 #include <ompl/base/ProjectionEvaluator.h>
00042 
00043 #include <boost/math/constants/constants.hpp>
00044 
00045 namespace ompl_ros_interface
00046 {
00047 
00052 class OmplRosProjectionEvaluator : public ompl::base::ProjectionEvaluator
00053 {
00054 public:
00060         OmplRosProjectionEvaluator(const ompl::base::StateSpace *state_space, 
00061                              const std::string &evaluator_name);
00062         
00066         virtual unsigned int getDimension(void) const;
00067         
00071         virtual void project(const ompl::base::State *state, 
00072                        ompl::base::EuclideanProjection &projection) const;
00073 
00074 private:
00075   unsigned int dimension_;
00076   unsigned int mapping_index_;
00077   ompl_ros_interface::MAPPING_TYPE mapping_type_;
00078 };
00079 }
00080 
00081 #endif


ompl_ros_interface
Author(s): Sachin Chitta
autogenerated on Thu Dec 12 2013 11:10:58