Abstract definition for a class computing projections to Rⁿ. Implicit integer grids are imposed on this projection space by setting cell sizes. Before use, the user must supply cell sizes for the integer grid (setCellSizes()). The implementation of this class is thread safe. More...

#include <ompl/base/ProjectionEvaluator.h>

Inheritance diagram for ompl::base::ProjectionEvaluator:

[legend]

Public Member Functions
	ProjectionEvaluator (const ProjectionEvaluator &)=delete

ProjectionEvaluator &	operator= (const ProjectionEvaluator &)=delete

	ProjectionEvaluator (const StateSpace *space)
	Construct a projection evaluator for a specific state space.

	ProjectionEvaluator (const StateSpacePtr &space)
	Construct a projection evaluator for a specific state space.

virtual unsigned int	getDimension () const =0
	Return the dimension of the projection defined by this evaluator.

virtual void	project (const State *state, Eigen::Ref< Eigen::VectorXd > projection) const =0
	Compute the projection as an array of double values.

virtual void	setCellSizes (const std::vector< double > &cellSizes)
	Define the size (in each dimension) of a grid cell. The number of sizes set here must be the same as the dimension of the projection computed by the projection evaluator. After a call to this function, setup() will not call defaultCellSizes() or inferCellSizes() any more.

void	setCellSizes (unsigned int dim, double cellSize)
	Set the cell sizes to cellSize for a particular dimension dim. This function simply calls getCellSizes(), modifies the desired dimension and then calls setCellSizes(). This is done intentionally to enforce a call to setCellSizes().

void	mulCellSizes (double factor)
	Multiply the cell sizes in each dimension by a specified factor factor. This function does nothing if cell sizes have not been set. If cell sizes have been set (irrespective of source; e.g., user, default or inferred), this function will then call setCellSizes(), so the source of the cell sizes will be considered to be the user.

bool	userConfigured () const
	Return true if any user configuration has been done to this projection evaluator (setCellSizes() was called)

const std::vector< double > &	getCellSizes () const
	Get the size (each dimension) of a grid cell

double	getCellSizes (unsigned int dim) const
	Get the size of a particular dimension of a grid cell

void	checkCellSizes () const
	Check if cell dimensions match projection dimension.

void	inferCellSizes ()
	Sample the state space and decide on default cell sizes. This function is called by setup() if no cell dsizes have been set and defaultCellSizes() does not fill the cell sizes either.

virtual void	defaultCellSizes ()
	Set the default cell dimensions for this projection. The default implementation of this function is empty. setup() calls this function if no cell dimensions have been previously set.

void	checkBounds () const
	Check if the projection dimension matched the dimension of the bounds.

bool	hasBounds () const
	Check if bounds were specified for this projection.

void	setBounds (const RealVectorBounds &bounds)
	Set bounds on the projection. The PDST planner needs to known the bounds on the projection. Default bounds are automatically computed by inferCellSizes().

const RealVectorBounds &	getBounds () const
	Get the bounds computed/set for this projection.

void	inferBounds ()
	Compute an approximation of the bounds for this projection space. getBounds() will then report the computed bounds.

virtual void	setup ()
	Perform configuration steps, if needed.

void	computeCoordinates (const Eigen::Ref< Eigen::VectorXd > &projection, Eigen::Ref< Eigen::VectorXi > coord) const
	Compute integer coordinates for a projection.

void	computeCoordinates (const State *state, Eigen::Ref< Eigen::VectorXi > coord) const
	Compute integer coordinates for a state.

ParamSet &	params ()
	Get the parameters for this projection.

const ParamSet &	params () const
	Get the parameters for this projection.

virtual void	printSettings (std::ostream &out=std::cout) const
	Print settings about this projection.

virtual void	printProjection (const Eigen::Ref< Eigen::VectorXd > &projection, std::ostream &out=std::cout) const
	Print a euclidean projection.

Protected Member Functions
void	estimateBounds ()
	Fill estimatedBounds_ with an approximate bounding box for the projection space (via sampling)

Protected Attributes
const StateSpace *	space_
	The state space this projection operates on.

std::vector< double >	cellSizes_
	The size of a cell, in every dimension of the projected space, in the implicitly defined integer grid.

RealVectorBounds	bounds_
	A bounding box for projected state values.

RealVectorBounds	estimatedBounds_
	An approximate bounding box for projected state values; This is the cached result of estimateBounds() which may later be copied to bounds_ if bounds are needed but were not specified.

bool	defaultCellSizes_
	Flag indicating whether cell sizes have been set by the user, or whether they were inferred automatically. This flag becomes false if setCellSizes() is called.

bool	cellSizesWereInferred_
	Flag indicating whether projection cell sizes were automatically inferred.

ParamSet	params_
	The set of parameters for this projection.

Detailed Description

Abstract definition for a class computing projections to Rⁿ. Implicit integer grids are imposed on this projection space by setting cell sizes. Before use, the user must supply cell sizes for the integer grid (setCellSizes()). The implementation of this class is thread safe.

Definition at line 194 of file ProjectionEvaluator.h.

The documentation for this class was generated from the following files:

ompl/base/ProjectionEvaluator.h
ompl/base/src/ProjectionEvaluator.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description