radial_approx.h
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00036 
00041 #ifndef RADIAL_APPROX_H_
00042 #define RADIAL_APPROX_H_
00043 
00044 #include "dmp/function_approx.h"
00045 #include <iostream>
00046 #include <Eigen/Core>
00047 #include <Eigen/SVD>
00048 #include <Eigen/LU>
00049 
00050 namespace dmp{
00051 
00053 class RadialApprox : public FunctionApprox{
00054 public:
00055         RadialApprox(int num_bases, double base_width, double alpha);
00056         RadialApprox(const std::vector<double> &w, double base_width, double alpha);
00057         virtual ~RadialApprox();
00058 
00063         virtual double evalAt(double x);
00064 
00069         virtual void leastSquaresWeights(double *X, double *Y, int n_pts);
00070 
00071 private:
00075         void calcFeatures(double x);
00076 
00081         Eigen::MatrixXd pseudoinverse(Eigen::MatrixXd mat);
00082 
00083         double *features;  //Storage for a set of features
00084         double *centers;   //Centers of RBFs
00085         double *widths;    //Widths of RBFs
00086 
00087 };
00088 
00089 }
00090 
00091 #endif /* RADIAL_APPROX_H_ */


dmp
Author(s): Scott Niekum
autogenerated on Sun Oct 5 2014 23:29:12