ProjectionEvaluator.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_PROJECTION_EVALUATOR_
#define OMPL_BASE_PROJECTION_EVALUATOR_

#include "ompl/base/State.h"
#include "ompl/util/ClassForward.h"
#include "ompl/util/Console.h"
#include "ompl/base/GenericParam.h"
#include "ompl/base/spaces/RealVectorBounds.h"

#include <vector>
#include <valarray>
#include <iostream>
#include <boost/numeric/ublas/matrix.hpp>

namespace ompl
{

    namespace base
    {

        typedef std::vector<int> ProjectionCoordinates;

        typedef boost::numeric::ublas::vector<double> EuclideanProjection;


        class ProjectionMatrix
        {
        public:

            typedef boost::numeric::ublas::matrix<double> Matrix;

            static Matrix ComputeRandom(const unsigned int from, const unsigned int to, const std::vector<double> &scale);

            static Matrix ComputeRandom(const unsigned int from, const unsigned int to);

            void computeRandom(const unsigned int from, const unsigned int to, const std::vector<double> &scale);

            void computeRandom(const unsigned int from, const unsigned int to);

            void project(const double *from, EuclideanProjection& to) const;

            void print(std::ostream &out = std::cout) const;

            Matrix mat;
        };

        OMPL_CLASS_FORWARD(StateSpace);


        OMPL_CLASS_FORWARD(ProjectionEvaluator);

        class ProjectionEvaluator
        {
        public:
            // non-copyable
            ProjectionEvaluator(const ProjectionEvaluator&) = delete;
            ProjectionEvaluator& operator=(const ProjectionEvaluator&) = delete;

            ProjectionEvaluator(const StateSpace *space);

            ProjectionEvaluator(const StateSpacePtr &space);

            virtual ~ProjectionEvaluator();

            virtual unsigned int getDimension() const = 0;

            virtual void project(const State *state, EuclideanProjection &projection) const = 0;

            virtual void setCellSizes(const std::vector<double> &cellSizes);

            void setCellSizes(unsigned int dim, double cellSize);

            void mulCellSizes(double factor);

            bool userConfigured() const;

            const std::vector<double>& getCellSizes() const
            {
                return cellSizes_;
            }

            double getCellSizes(unsigned int dim) const;

            void checkCellSizes() const;

            void inferCellSizes();

            virtual void defaultCellSizes();

            void checkBounds() const;

            bool hasBounds() const
            {
                return !bounds_.low.empty();
            }

            void setBounds(const RealVectorBounds &bounds);

            const RealVectorBounds& getBounds() const
            {
                return bounds_;
            }

            void inferBounds();

            virtual void setup();

            void computeCoordinates(const EuclideanProjection &projection, ProjectionCoordinates &coord) const;

            void computeCoordinates(const State *state, ProjectionCoordinates &coord) const
            {
                EuclideanProjection projection(getDimension());
                project(state, projection);
                computeCoordinates(projection, coord);
            }

            ParamSet& params()
            {
                return params_;
            }

            const ParamSet& params() const
            {
                return params_;
            }

            virtual void printSettings(std::ostream &out = std::cout) const;

            virtual void printProjection(const EuclideanProjection &projection, std::ostream &out = std::cout) const;

        protected:

            void estimateBounds();

            const StateSpace    *space_;

            std::vector<double>  cellSizes_;

            RealVectorBounds     bounds_;

            RealVectorBounds     estimatedBounds_;

            bool                 defaultCellSizes_;

            bool                 cellSizesWereInferred_;

            ParamSet             params_;
        };

        class SubspaceProjectionEvaluator : public ProjectionEvaluator
        {
        public:

            SubspaceProjectionEvaluator(const StateSpace *space, unsigned int index, const ProjectionEvaluatorPtr &projToUse = ProjectionEvaluatorPtr());

            virtual void setup();

            virtual unsigned int getDimension() const;

            virtual void project(const State *state, EuclideanProjection &projection) const;

        protected:

            unsigned int           index_;

            ProjectionEvaluatorPtr proj_;

            ProjectionEvaluatorPtr specifiedProj_;
        };

    }

}

#endif