RobWorkProject
24.8.23-
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Normalization of configurations. More...
#include <QNormalizer.hpp>
Public Types | |
typedef rw::core::Ptr< QNormalizer > | Ptr |
smart pointer type to this class | |
Public Member Functions | |
rw::math::Q | fromNormalized (const rw::math::Q &q) const |
Convert from a normalized configuration to a real configuration. | |
rw::math::Q | toNormalized (const rw::math::Q &q) const |
Convert a real configuration to a normalized configuration. | |
void | setFromNormalized (rw::math::Q &q) const |
Convert from a normalized configuration to a real configuration and assign the real configuration to q. | |
void | setToNormalized (rw::math::Q &q) const |
Convert a real configuration to a normalized configuration and write the normalized configuration to q. | |
const std::pair< rw::math::Q, rw::math::Q > & | getBounds () const |
The box of the configuration space with respect to which normalization is done. | |
QNormalizer (const std::pair< rw::math::Q, rw::math::Q > &bounds) | |
Normalizer for the configuration space box given by bounds. | |
Static Public Member Functions | |
static QNormalizer | identity () |
Normalizer for the already normalized configuration space box. | |
Normalization of configurations.
QNormalizer linearly maps configurations of a rectangular configuration space into a square configuration space with lower corner (0, 0, ..., 0) and upper corner (1, 1, ..., 1).