radial_approx.h

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#ifndef RADIAL_APPROX_H_
#define RADIAL_APPROX_H_

#include "dmp/function_approx.h"
#include <iostream>
#include <Eigen/Core>
#include <Eigen/SVD>
#include <Eigen/LU>

namespace dmp{

class RadialApprox : public FunctionApprox{
public:
        RadialApprox(int num_bases, double base_width, double alpha);
        RadialApprox(const std::vector<double> &w, double base_width, double alpha);
        virtual ~RadialApprox();

        virtual double evalAt(double x);

        virtual void leastSquaresWeights(double *X, double *Y, int n_pts);

private:
        void calcFeatures(double x);

        Eigen::MatrixXd pseudoinverse(Eigen::MatrixXd mat);

        double *features;  //Storage for a set of features
        double *centers;   //Centers of RBFs
        double *widths;    //Widths of RBFs

};

}

#endif /* RADIAL_APPROX_H_ */