ompl::base::ProjectionMatrix Class Reference

A projection matrix -- it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated. More...

#include <ProjectionEvaluator.h>

List of all members.

Public Types
typedef std::vector < std::valarray< double > >	Matrix
	Datatype for projection matrices.
Public Member Functions
void	computeRandom (const unsigned int from, const unsigned int to)
	Wrapper for ComputeRandom(from, to).
void	computeRandom (const unsigned int from, const unsigned int to, const std::vector< double > &scale)
	Wrapper for ComputeRandom(from, to, scale).
void	print (std::ostream &out=std::cout) const
	Print the contained projection matrix to a stram.
void	project (const double *from, double *to) const
	Multiply the vector from by the contained projection matrix to obtain the vector to.
Static Public Member Functions
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.
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.
Public Attributes
Matrix	mat
	Projection matrix.

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Detailed Description

A projection matrix -- it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated.

Definition at line 91 of file ProjectionEvaluator.h.

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Member Typedef Documentation

typedef std::vector< std::valarray<double> > ompl::base::ProjectionMatrix::Matrix

Datatype for projection matrices.

Definition at line 96 of file ProjectionEvaluator.h.

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Member Function Documentation

void ompl::base::ProjectionMatrix::computeRandom	(	const unsigned int	from,
		const unsigned int	to
	)

Wrapper for ComputeRandom(from, to).

void ompl::base::ProjectionMatrix::computeRandom	(	const unsigned int	from,
		const unsigned int	to,
		const std::vector< double > &	scale
	)

Wrapper for ComputeRandom(from, to, scale).

static 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.

static 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.

void ompl::base::ProjectionMatrix::print

(

std::ostream &

out = std::cout

)

const

Print the contained projection matrix to a stram.

void ompl::base::ProjectionMatrix::project	(	const double *	from,
		double *	to
	)			const

Multiply the vector from by the contained projection matrix to obtain the vector to.

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Member Data Documentation

Matrix ompl::base::ProjectionMatrix::mat

Projection matrix.

Definition at line 138 of file ProjectionEvaluator.h.

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

• ProjectionEvaluator.h