RobWorkProject
24.5.15

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).