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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
59
60 class DynamicTimeWarp
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.
Includes various tools such as self config, benchmarking, etc.
Main namespace. Contains everything in this library.