base::SubspaceProjectionEvaluator Class Reference

If the projection for a CompoundStateSpace is supposed to be the same as the one for one of its included subspaces, this class facilitates selecting a projection of that subspace. More...

#include <ompl/base/ProjectionEvaluator.h>

Inheritance diagram for base::SubspaceProjectionEvaluator:

List of all members.

Public Member Functions

 SubspaceProjectionEvaluator (const StateSpace *space, unsigned int index, const ProjectionEvaluatorPtr &projToUse=ProjectionEvaluatorPtr())
 The constructor states that for space space, the projection to use is the same as the component at position index of space space. The actual projection to use can be specified by projToUse. If the projection is not specified, the default one for the subspace at position index is used.
virtual void setup ()
 Perform configuration steps, if needed.
virtual unsigned int getDimension () const
 Return the dimension of the projection defined by this evaluator.
virtual void project (const State *state, EuclideanProjection &projection) const
 Compute the projection as an array of double values.

Protected Attributes

unsigned int index_
 The index of the subspace from which to project.
ProjectionEvaluatorPtr proj_
 The projection to use. This is either the same as specifiedProj_ or, if specifiedProj_ is not initialized, it is the default projection for the subspace at index index_.
ProjectionEvaluatorPtr specifiedProj_
 The projection that is optionally specified by the user in the constructor argument (projToUse)

Detailed Description

If the projection for a CompoundStateSpace is supposed to be the same as the one for one of its included subspaces, this class facilitates selecting a projection of that subspace.

Definition at line 296 of file ProjectionEvaluator.h.


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