demos/Koules/KoulesProjection.h
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00034 
00035 /* Author: Beck Chen, Mark Moll */
00036 
00037 #ifndef DEMOS_KOULES_PROJECTION_
00038 #define DEMOS_KOULES_PROJECTION_
00039 
00040 #include <ompl/base/spaces/RealVectorStateSpace.h>
00041 
00042 // A projection for the KoulesStateSpace
00043 class KoulesProjection : public ompl::base::ProjectionEvaluator
00044 {
00045 public:
00046     KoulesProjection(const ompl::base::StateSpace* space, unsigned int numDimensions = 3)
00047         : ompl::base::ProjectionEvaluator(space), numDimensions_(numDimensions)
00048     {
00049         unsigned int n = (space_->getDimension() - 1) / 2 + 1;
00050         if (numDimensions_ > n)
00051             numDimensions_ = n;
00052         else if (numDimensions_ < 3)
00053             numDimensions_ = 3;
00054     }
00055 
00056     virtual unsigned int getDimension(void) const
00057     {
00058         return numDimensions_;
00059     }
00060     virtual void defaultCellSizes(void)
00061     {
00062         cellSizes_.resize(numDimensions_, .05);
00063     }
00064     // projection with coordinates in the same order as described in Andrew
00065     // Ladd's thesis: (x,y,theta) of the ship, followed by the positions of
00066     // the koules (up to the dimensionality of the projection)
00067     virtual void project(const ompl::base::State *state, ompl::base::EuclideanProjection &projection) const
00068     {
00069         const double* x = state->as<ompl::base::RealVectorStateSpace::StateType>()->values;
00070         unsigned int numKoules = (numDimensions_ - 3) / 2;
00071         projection[0] = x[0];
00072         projection[1] = x[1];
00073         projection[2] = x[2];
00074         for (unsigned int i = 0; i < numKoules; ++i)
00075         {
00076             projection[2 * i + 3] = x[4 * i + 5];
00077             projection[2 * i + 4] = x[4 * i + 6];
00078         }
00079     }
00080 protected:
00081     unsigned int numDimensions_;
00082 };
00083 
00084 #endif
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