ompl::base::ProjectionEvaluator::ProjectionEvaluator(const StateSpacePtr &space)
: space_(space.get()), bounds_(0), estimatedBounds_(0), defaultCellSizes_(true), cellSizesWereInferred_(false)
{
params_.declareParam<double>("cellsize_factor", [this](double factor)
{
mulCellSizes(factor);
});
}
ompl::base::ProjectionEvaluator::ProjectionEvaluator(const StateSpacePtr &space) : space_(space.get()), defaultCellSizes_(true), cellSizesWereInferred_(false)
{
params_.declareParam<double>("cellsize_factor", boost::bind(&ProjectionEvaluator::mulCellSizes, this, _1));
}
ompl::base::MorseProjection::MorseProjection(const StateSpacePtr &space)
: ProjectionEvaluator(space), space_(dynamic_cast<MorseStateSpace*>(space.get()))
{
if (!space_)
throw Exception("MORSE State Space needed for Morse Projection");
}