DynamicTimeWarp.h

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/* Author: Dave Coleman
   Desc:   Compute Dynamic Time Warping
*/

#ifndef OMPL_TOOLS_LIGHTNING_DYNAMIC_TIME_WARP_
#define OMPL_TOOLS_LIGHTNING_DYNAMIC_TIME_WARP_

#include <ompl/geometric/PathGeometric.h>
#include <ompl/base/SpaceInformation.h>

#include <boost/numeric/ublas/matrix.hpp>

namespace ompl
{
namespace tools
{

namespace og = ompl::geometric;

OMPL_CLASS_FORWARD(DynamicTimeWarp);

class DynamicTimeWarp
{
public:
    explicit DynamicTimeWarp(const base::SpaceInformationPtr &si);

    double calcDTWDistance(const og::PathGeometric &path1, const og::PathGeometric &path2) const;

    double getPathsScore(const og::PathGeometric &path1, const og::PathGeometric &path2) const;

private:

    base::SpaceInformationPtr     si_;

    mutable boost::numeric::ublas::matrix<double> table_;

}; // end of class

} // namespace
} // namespace

#endif