cached_ik_kinematics_plugin::GreedyKCenters< _T > Class Template Reference

An instance of this class can be used to greedily select a given number of representatives from a set of data points that are all far apart from each other. More...

#include <GreedyKCenters.h>

Public Types
using	DistanceFunction = std::function< double(const _T &, const _T &)>
	The definition of a distance function. More...
using	Matrix = boost::numeric::ublas::matrix< double >
	A matrix type for storing distances between points and centers. More...

Public Member Functions
const DistanceFunction &	getDistanceFunction () const
	Get the distance function used. More...
	GreedyKCenters ()=default
void	kcenters (const std::vector< _T > &data, unsigned int k, std::vector< unsigned int > &centers, Matrix &dists)
	Greedy algorithm for selecting k centers. More...
void	setDistanceFunction (const DistanceFunction &distFun)
	Set the distance function to use. More...
virtual	~GreedyKCenters ()=default

Protected Attributes
DistanceFunction	distFun_
	The used distance function. More...
std::mt19937	generator_ { std::random_device{}() }

Detailed Description

template<typename _T>
class cached_ik_kinematics_plugin::GreedyKCenters< _T >

An instance of this class can be used to greedily select a given number of representatives from a set of data points that are all far apart from each other.

Definition at line 52 of file GreedyKCenters.h.

Member Typedef Documentation

template<typename _T>

using cached_ik_kinematics_plugin::GreedyKCenters< _T >::DistanceFunction = std::function<double(const _T&, const _T&)>

The definition of a distance function.

Definition at line 56 of file GreedyKCenters.h.

template<typename _T>

using cached_ik_kinematics_plugin::GreedyKCenters< _T >::Matrix = boost::numeric::ublas::matrix<double>

A matrix type for storing distances between points and centers.

Definition at line 58 of file GreedyKCenters.h.

Constructor & Destructor Documentation

template<typename _T>

cached_ik_kinematics_plugin::GreedyKCenters< _T >::GreedyKCenters ( )

default

template<typename _T>

virtual cached_ik_kinematics_plugin::GreedyKCenters< _T >::~GreedyKCenters ( )

virtualdefault

Member Function Documentation

template<typename _T>

const DistanceFunction& cached_ik_kinematics_plugin::GreedyKCenters< _T >::getDistanceFunction ( ) const

inline

Get the distance function used.

Definition at line 71 of file GreedyKCenters.h.

template<typename _T>

void cached_ik_kinematics_plugin::GreedyKCenters< _T >::kcenters ( const std::vector< _T > &  data, unsigned int  k, std::vector< unsigned int > &  centers, Matrix &  dists  )

inline

Greedy algorithm for selecting k centers.

Parameters

data	a vector of data points
k	the desired number of centers
centers	a vector of length k containing the indices into data of the k centers
dists	a matrix such that dists(i,j) is the distance between data[i] and data[center[j]]

Definition at line 84 of file GreedyKCenters.h.

template<typename _T>

void cached_ik_kinematics_plugin::GreedyKCenters< _T >::setDistanceFunction ( const DistanceFunction &  distFun )

inline

Set the distance function to use.

Definition at line 65 of file GreedyKCenters.h.

Member Data Documentation

template<typename _T>

DistanceFunction cached_ik_kinematics_plugin::GreedyKCenters< _T >::distFun_

protected

The used distance function.

Definition at line 126 of file GreedyKCenters.h.

template<typename _T>

std::mt19937 cached_ik_kinematics_plugin::GreedyKCenters< _T >::generator_ { std::random_device{}() }

protected

Random number generator used to select first center

Definition at line 129 of file GreedyKCenters.h.

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The documentation for this class was generated from the following file:

• GreedyKCenters.h