Program Listing for File DynamicTimeWarp.h

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/* Author: Dave Coleman
   Desc:   Compute Dynamic Time Warping
*/

#ifndef OMPL_TOOLS_LIGHTNING_DYNAMIC_TIME_WARP_
#define OMPL_TOOLS_LIGHTNING_DYNAMIC_TIME_WARP_

#include <ompl/geometric/PathGeometric.h>
#include <ompl/base/SpaceInformation.h>

#include <Eigen/Core>

namespace ompl
{
    namespace tools
    {
        namespace og = ompl::geometric;

        OMPL_CLASS_FORWARD(DynamicTimeWarp);

        class DynamicTimeWarp
        {
        public:
            explicit DynamicTimeWarp(base::SpaceInformationPtr si);

            double calcDTWDistance(const og::PathGeometric &path1, const og::PathGeometric &path2) const;

            double getPathsScore(const og::PathGeometric &path1, const og::PathGeometric &path2) const;

        private:
            base::SpaceInformationPtr si_;

            mutable Eigen::MatrixXd table_;

        public:
            EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        };  // end of class

    }  // namespace tools
}  // namespace ompl

#endif