All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator
ProjectionEvaluator.h
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2010, Rice University
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Rice University nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_PROJECTION_EVALUATOR_
00038 #define OMPL_BASE_PROJECTION_EVALUATOR_
00039 
00040 #include "ompl/base/State.h"
00041 #include "ompl/util/ClassForward.h"
00042 #include "ompl/util/Console.h"
00043 #include "ompl/base/GenericParam.h"
00044 
00045 #include <vector>
00046 #include <valarray>
00047 #include <iostream>
00048 #include <boost/noncopyable.hpp>
00049 #include <boost/numeric/ublas/matrix.hpp>
00050 
00051 namespace ompl
00052 {
00053 
00054     namespace base
00055     {
00056 
00058         typedef std::vector<int> ProjectionCoordinates;
00059 
00061         typedef boost::numeric::ublas::vector<double> EuclideanProjection;
00062 
00063 
00067         class ProjectionMatrix
00068         {
00069         public:
00070 
00072             typedef boost::numeric::ublas::matrix<double> Matrix;
00073 
00089             static Matrix ComputeRandom(const unsigned int from, const unsigned int to, const std::vector<double> &scale);
00090 
00099             static Matrix ComputeRandom(const unsigned int from, const unsigned int to);
00100 
00102             void computeRandom(const unsigned int from, const unsigned int to, const std::vector<double> &scale);
00103 
00105             void computeRandom(const unsigned int from, const unsigned int to);
00106 
00108             void project(const double *from, EuclideanProjection& to) const;
00109 
00111             void print(std::ostream &out = std::cout) const;
00112 
00114             Matrix mat;
00115         };
00116 
00118         ClassForward(StateSpace);
00120 
00122 
00123         ClassForward(ProjectionEvaluator);
00125 
00135         class ProjectionEvaluator : private boost::noncopyable
00136         {
00137         public:
00138 
00140             ProjectionEvaluator(const StateSpace *space);
00141 
00143             ProjectionEvaluator(const StateSpacePtr &space);
00144 
00145             virtual ~ProjectionEvaluator(void);
00146 
00148             virtual unsigned int getDimension(void) const = 0;
00149 
00151             virtual void project(const State *state, EuclideanProjection &projection) const = 0;
00152 
00160             virtual void setCellSizes(const std::vector<double> &cellSizes);
00161 
00164             void setCellSizes(unsigned int dim, double cellSize);
00165 
00169             void mulCellSizes(double factor);
00170 
00172             bool userConfigured(void) const;
00173 
00175             const std::vector<double>& getCellSizes(void) const
00176             {
00177                 return cellSizes_;
00178             }
00179 
00181             double getCellSizes(unsigned int dim) const;
00182 
00184             void checkCellSizes(void) const;
00185 
00191             void inferCellSizes(void);
00192 
00197             virtual void defaultCellSizes(void);
00198 
00200             virtual void setup(void);
00201 
00203             void computeCoordinates(const EuclideanProjection &projection, ProjectionCoordinates &coord) const;
00204 
00206             void computeCoordinates(const State *state, ProjectionCoordinates &coord) const
00207             {
00208                 EuclideanProjection projection(getDimension());
00209                 project(state, projection);
00210                 computeCoordinates(projection, coord);
00211             }
00212 
00214             ParamSet& params(void)
00215             {
00216                 return params_;
00217             }
00218 
00220             const ParamSet& params(void) const
00221             {
00222                 return params_;
00223             }
00224 
00226             virtual void printSettings(std::ostream &out = std::cout) const;
00227 
00229             virtual void printProjection(const EuclideanProjection &projection, std::ostream &out = std::cout) const;
00230 
00231         protected:
00232 
00234             const StateSpace    *space_;
00235 
00239             std::vector<double>  cellSizes_;
00240 
00245             bool                 defaultCellSizes_;
00246 
00249             bool                 cellSizesWereInferred_;
00250 
00252             ParamSet             params_;
00253 
00255             msg::Interface       msg_;
00256         };
00257 
00262         class SubSpaceProjectionEvaluator : public ProjectionEvaluator
00263         {
00264         public:
00265 
00272             SubSpaceProjectionEvaluator(const StateSpace *space, unsigned int index, const ProjectionEvaluatorPtr &projToUse = ProjectionEvaluatorPtr());
00273 
00274             virtual void setup(void);
00275 
00276             virtual unsigned int getDimension(void) const;
00277 
00278             virtual void project(const State *state, EuclideanProjection &projection) const;
00279 
00280         protected:
00281 
00283             unsigned int           index_;
00284 
00289             ProjectionEvaluatorPtr proj_;
00290 
00292             ProjectionEvaluatorPtr specifiedProj_;
00293         };
00294 
00295     }
00296 
00297 }
00298 
00299 #endif
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends