ompl/extensions/morse/MorseProjection.h
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00034 
00035 /* Author: Caleb Voss */
00036 
00037 #ifndef OMPL_EXTENSION_MORSE_PROJECTION_
00038 #define OMPL_EXTENSION_MORSE_PROJECTION_
00039 
00040 #include "ompl/extensions/morse/MorseStateSpace.h"
00041 
00042 namespace ompl
00043 {
00044     namespace base
00045     {
00046         
00049         class MorseProjection : public ProjectionEvaluator
00050         {
00051         public:
00053             MorseProjection(const StateSpacePtr &space);
00054             
00056             void setup();
00057             
00059             virtual unsigned int getDimension() const;
00060             
00066             virtual void defaultCellSizes();
00067             
00069             virtual void project(const State *state, EuclideanProjection &projection) const;
00070             
00071         protected:
00073             MorseStateSpace *space_;
00074         };
00075     }
00076 }
00077 
00078 #endif
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