ProjectionEvaluator.h

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/* 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 "ompl/base/GenericParam.h"
#include "ompl/base/spaces/RealVectorBounds.h"
 
#include <vector>
#include <valarray>
#include <iostream>
#include <Eigen/Core>
 
namespace ompl
{
    namespace base
    {
        class ProjectionMatrix
        {
        public:
            using Matrix = Eigen::MatrixXd;
 
            static Matrix ComputeRandom(unsigned int from, unsigned int to, const std::vector<double> &scale);
 
            static Matrix ComputeRandom(unsigned int from, unsigned int to);
 
            void computeRandom(unsigned int from, unsigned int to, const std::vector<double> &scale);
 
            void computeRandom(unsigned int from, unsigned int to);
 
            void project(const double *from, Eigen::Ref<Eigen::VectorXd> to) const;
 
            void print(std::ostream &out = std::cout) const;
 
            Matrix mat;
 
        public:
            EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        };
 
        OMPL_CLASS_FORWARD(StateSpace);
 
 
        OMPL_CLASS_FORWARD(ProjectionEvaluator);
 
        class ProjectionEvaluator
        {
        public:
            // non-copyable
            ProjectionEvaluator(const ProjectionEvaluator &) = delete;
            ProjectionEvaluator &operator=(const ProjectionEvaluator &) = delete;
 
            ProjectionEvaluator(const StateSpace *space);
 
            ProjectionEvaluator(const StateSpacePtr &space);
 
            virtual ~ProjectionEvaluator();
 
            virtual unsigned int getDimension() const = 0;
 
            virtual void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const = 0;
 
            virtual void setCellSizes(const std::vector<double> &cellSizes);
 
            void setCellSizes(unsigned int dim, double cellSize);
 
            void mulCellSizes(double factor);
 
            bool userConfigured() const;
 
            const std::vector<double> &getCellSizes() const
            {
                return cellSizes_;
            }
 
            double getCellSizes(unsigned int dim) const;
 
            void checkCellSizes() const;
 
            void inferCellSizes();
 
            virtual void defaultCellSizes();
 
            void checkBounds() const;
 
            bool hasBounds() const
            {
                return !bounds_.low.empty();
            }
 
            void setBounds(const RealVectorBounds &bounds);
 
            const RealVectorBounds &getBounds() const
            {
                return bounds_;
            }
 
            void inferBounds();
 
            virtual void setup();
 
            void computeCoordinates(const Eigen::Ref<Eigen::VectorXd> &projection,
                                    Eigen::Ref<Eigen::VectorXi> coord) const;
 
            void computeCoordinates(const State *state, Eigen::Ref<Eigen::VectorXi> coord) const
            {
                Eigen::VectorXd projection(getDimension());
                project(state, projection);
                computeCoordinates(projection, coord);
            }
 
            ParamSet &params()
            {
                return params_;
            }
 
            const ParamSet &params() const
            {
                return params_;
            }
 
            virtual void printSettings(std::ostream &out = std::cout) const;
 
            virtual void printProjection(const Eigen::Ref<Eigen::VectorXd> &projection,
                                         std::ostream &out = std::cout) const;
 
        protected:
            void estimateBounds();
 
            const StateSpace *space_;
 
            std::vector<double> cellSizes_;
 
            RealVectorBounds bounds_;
 
            RealVectorBounds estimatedBounds_;
 
            bool defaultCellSizes_;
 
            bool cellSizesWereInferred_;
 
            ParamSet params_;
        };
 
        class SubspaceProjectionEvaluator : public ProjectionEvaluator
        {
        public:
            SubspaceProjectionEvaluator(const StateSpace *space, unsigned int index,
                                        ProjectionEvaluatorPtr projToUse = ProjectionEvaluatorPtr());
 
            void setup() override;
 
            unsigned int getDimension() const override;
 
            void project(const State *state, Eigen::Ref<Eigen::VectorXd> projection) const override;
 
        protected:
            unsigned int index_;
 
            ProjectionEvaluatorPtr proj_;
 
            ProjectionEvaluatorPtr specifiedProj_;
        };
    }  // namespace base
}  // namespace ompl
 
#endif