A projection matrix -- it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated. More...
#include <ProjectionEvaluator.h>
Public Types | |
typedef boost::numeric::ublas::matrix < double > | Matrix |
Datatype for projection matrices. | |
Public Member Functions | |
void | computeRandom (const unsigned int from, const unsigned int to, const std::vector< double > &scale) |
Wrapper for ComputeRandom(from, to, scale) | |
void | computeRandom (const unsigned int from, const unsigned int to) |
Wrapper for ComputeRandom(from, to) | |
void | project (const double *from, EuclideanProjection &to) const |
Multiply the vector from by the contained projection matrix to obtain the vector to. | |
void | print (std::ostream &out=std::cout) const |
Print the contained projection matrix to a stram. | |
Static Public Member Functions | |
static Matrix | ComputeRandom (const unsigned int from, const unsigned int to, const std::vector< double > &scale) |
Compute a random projection matrix with from columns and to rows. A vector with from elements can be multiplied by this matrix in order to produce a vector with to elements. | |
static Matrix | ComputeRandom (const unsigned int from, const unsigned int to) |
Compute a random projection matrix with from columns and to rows. A vector with from elements can be multiplied by this matrix in order to produce a vector with to elements. | |
Public Attributes | |
Matrix | mat |
Projection matrix. |
A projection matrix -- it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated.
Definition at line 65 of file ProjectionEvaluator.h.
ompl::base::ProjectionMatrix::Matrix ompl::base::ProjectionMatrix::ComputeRandom | ( | const unsigned int | from, |
const unsigned int | to, | ||
const std::vector< double > & | scale | ||
) | [static] |
Compute a random projection matrix with from columns and to rows. A vector with from elements can be multiplied by this matrix in order to produce a vector with to elements.
If the scale argument is specified, the columns of the matrix are divided by the corresponding scaling argument: all elements (rows) in column[i] are divided by scale[i]. This is useful to specify if scaling of the elements of the state is to be applied before projection.
Each element is sampled with a Gaussian distribution with mean 0 and variance 1 and the matrix columns are made orthonormal.
Definition at line 53 of file ProjectionEvaluator.cpp.
ompl::base::ProjectionMatrix::Matrix ompl::base::ProjectionMatrix::ComputeRandom | ( | const unsigned int | from, |
const unsigned int | to | ||
) | [static] |
Compute a random projection matrix with from columns and to rows. A vector with from elements can be multiplied by this matrix in order to produce a vector with to elements.
Each element is sampled with a Gaussian distribution with mean 0 and variance 1 and the matrix columns are made orthonormal.
Definition at line 82 of file ProjectionEvaluator.cpp.