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DynamicTimeWarp.h
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34
35/* Author: Dave Coleman
36 Desc: Compute Dynamic Time Warping
37*/
38
39#ifndef OMPL_TOOLS_LIGHTNING_DYNAMIC_TIME_WARP_
40#define OMPL_TOOLS_LIGHTNING_DYNAMIC_TIME_WARP_
41
42#include <ompl/geometric/PathGeometric.h>
43#include <ompl/base/SpaceInformation.h>
44
45#include <Eigen/Core>
46
47namespace ompl
48{
49 namespace tools
50 {
51 namespace og = ompl::geometric;
52
54 OMPL_CLASS_FORWARD(DynamicTimeWarp);
56
61 {
62 public:
63 explicit DynamicTimeWarp(base::SpaceInformationPtr si);
64
71 double calcDTWDistance(const og::PathGeometric &path1, const og::PathGeometric &path2) const;
72
82 double getPathsScore(const og::PathGeometric &path1, const og::PathGeometric &path2) const;
83
84 private:
86 base::SpaceInformationPtr si_;
87
89 mutable Eigen::MatrixXd table_;
90
91 public:
92 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
93 }; // end of class
94
95 } // namespace tools
96} // namespace ompl
97
98#endif
Definition of a geometric path.
double getPathsScore(const og::PathGeometric &path1, const og::PathGeometric &path2) const
Use dynamic time warping to compare the similarity of two paths Note: this will interpolate both of t...
double calcDTWDistance(const og::PathGeometric &path1, const og::PathGeometric &path2) const
Use Dynamic Timewarping to score two paths.
This namespace contains code that is specific to planning under geometric constraints.
Main namespace. Contains everything in this library.