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>

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 130 of file ProjectionEvaluator.h.
Constructor & Destructor Documentation
◆ ProjectionEvaluator() [1/2]
ompl::base::ProjectionEvaluator::ProjectionEvaluator | ( | const StateSpace * | space | ) |
Construct a projection evaluator for a specific state space.
Definition at line 110 of file ProjectionEvaluator.cpp.
◆ ProjectionEvaluator() [2/2]
ompl::base::ProjectionEvaluator::ProjectionEvaluator | ( | const StateSpacePtr & | space | ) |
Construct a projection evaluator for a specific state space.
Definition at line 116 of file ProjectionEvaluator.cpp.
Member Function Documentation
◆ checkBounds()
void ompl::base::ProjectionEvaluator::checkBounds | ( | ) | const |
Check if the projection dimension matched the dimension of the bounds.
Definition at line 182 of file ProjectionEvaluator.cpp.
◆ checkCellSizes()
void ompl::base::ProjectionEvaluator::checkCellSizes | ( | ) | const |
Check if cell dimensions match projection dimension.
Definition at line 174 of file ProjectionEvaluator.cpp.
◆ computeCoordinates() [1/2]
void ompl::base::ProjectionEvaluator::computeCoordinates | ( | const Eigen::Ref< Eigen::VectorXd > & | projection, |
Eigen::Ref< Eigen::VectorXi > | coord | ||
) | const |
Compute integer coordinates for a projection.
Definition at line 293 of file ProjectionEvaluator.cpp.
◆ computeCoordinates() [2/2]
|
inline |
Compute integer coordinates for a state.
Definition at line 235 of file ProjectionEvaluator.h.
◆ defaultCellSizes()
|
virtual |
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.
Reimplemented in KoulesProjection, ompl::base::RealVectorOrthogonalProjectionEvaluator, ompl::base::RealVectorIdentityProjectionEvaluator, and ompl::base::MorseProjection.
Definition at line 189 of file ProjectionEvaluator.cpp.
◆ estimateBounds()
|
protected |
Fill estimatedBounds_ with an approximate bounding box for the projection space (via sampling)
Definition at line 218 of file ProjectionEvaluator.cpp.
◆ getBounds()
|
inline |
Get the bounds computed/set for this projection.
Definition at line 218 of file ProjectionEvaluator.h.
◆ getCellSizes() [1/2]
|
inline |
Get the size (each dimension) of a grid cell
Definition at line 179 of file ProjectionEvaluator.h.
◆ getCellSizes() [2/2]
double ompl::base::ProjectionEvaluator::getCellSizes | ( | unsigned int | dim | ) | const |
Get the size of a particular dimension of a grid cell
Definition at line 155 of file ProjectionEvaluator.cpp.
◆ getDimension()
|
pure virtual |
Return the dimension of the projection defined by this evaluator.
Implemented in KoulesProjection, KinematicChainProjector, ompl::base::SubspaceProjectionEvaluator, ompl::base::RealVectorLinearProjectionEvaluator, ompl::base::RealVectorOrthogonalProjectionEvaluator, ompl::base::RealVectorIdentityProjectionEvaluator, ompl::base::WrapperProjectionEvaluator, and ompl::base::MorseProjection.
◆ hasBounds()
|
inline |
Check if bounds were specified for this projection.
Definition at line 207 of file ProjectionEvaluator.h.
◆ inferBounds()
void ompl::base::ProjectionEvaluator::inferBounds | ( | ) |
Compute an approximation of the bounds for this projection space. getBounds() will then report the computed bounds.
Definition at line 211 of file ProjectionEvaluator.cpp.
◆ inferCellSizes()
void ompl::base::ProjectionEvaluator::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.
Definition at line 255 of file ProjectionEvaluator.cpp.
◆ mulCellSizes()
void ompl::base::ProjectionEvaluator::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.
Definition at line 163 of file ProjectionEvaluator.cpp.
◆ params() [1/2]
|
inline |
Get the parameters for this projection.
Definition at line 243 of file ProjectionEvaluator.h.
◆ params() [2/2]
|
inline |
Get the parameters for this projection.
Definition at line 249 of file ProjectionEvaluator.h.
◆ printProjection()
|
virtual |
Print a euclidean projection.
Definition at line 322 of file ProjectionEvaluator.cpp.
◆ printSettings()
|
virtual |
Print settings about this projection.
Definition at line 299 of file ProjectionEvaluator.cpp.
◆ project()
|
pure virtual |
Compute the projection as an array of double values.
Implemented in KoulesProjection, KinematicChainProjector, ompl::base::SubspaceProjectionEvaluator, ompl::base::RealVectorLinearProjectionEvaluator, ompl::base::RealVectorOrthogonalProjectionEvaluator, ompl::base::RealVectorIdentityProjectionEvaluator, ompl::base::WrapperProjectionEvaluator, and ompl::base::MorseProjection.
◆ setBounds()
void ompl::base::ProjectionEvaluator::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().
Definition at line 137 of file ProjectionEvaluator.cpp.
◆ setCellSizes() [1/2]
|
virtual |
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.
Definition at line 129 of file ProjectionEvaluator.cpp.
◆ setCellSizes() [2/2]
void ompl::base::ProjectionEvaluator::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().
Definition at line 143 of file ProjectionEvaluator.cpp.
◆ setup()
|
virtual |
Perform configuration steps, if needed.
Reimplemented in ompl::base::SubspaceProjectionEvaluator, ompl::base::RealVectorIdentityProjectionEvaluator, ompl::base::WrapperProjectionEvaluator, and ompl::base::MorseProjection.
Definition at line 275 of file ProjectionEvaluator.cpp.
◆ userConfigured()
bool ompl::base::ProjectionEvaluator::userConfigured | ( | ) | const |
Return true if any user configuration has been done to this projection evaluator (setCellSizes() was called)
Definition at line 124 of file ProjectionEvaluator.cpp.
Member Data Documentation
◆ bounds_
|
protected |
A bounding box for projected state values.
Definition at line 274 of file ProjectionEvaluator.h.
◆ cellSizes_
|
protected |
The size of a cell, in every dimension of the projected space, in the implicitly defined integer grid.
Definition at line 271 of file ProjectionEvaluator.h.
◆ cellSizesWereInferred_
|
protected |
Flag indicating whether projection cell sizes were automatically inferred.
Definition at line 289 of file ProjectionEvaluator.h.
◆ defaultCellSizes_
|
protected |
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.
Definition at line 285 of file ProjectionEvaluator.h.
◆ estimatedBounds_
|
protected |
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.
Definition at line 279 of file ProjectionEvaluator.h.
◆ params_
|
protected |
The set of parameters for this projection.
Definition at line 292 of file ProjectionEvaluator.h.
◆ space_
|
protected |
The state space this projection operates on.
Definition at line 266 of file ProjectionEvaluator.h.
The documentation for this class was generated from the following files:
- ompl/base/ProjectionEvaluator.h
- ompl/base/src/ProjectionEvaluator.cpp