ergodic_exploration::Basis Class Reference

Fourier cosine basis. More...

#include <basis.hpp>

Public Member Functions
	Basis (double lx, double ly, unsigned int num_basis)
	Constructor. More...
vec	fourierBasis (const vec &x) const
	Compose cosine basis functions given positon. More...
mat	gradFourierBasis (const vec &x) const
	Compose gradient cosine basis functions. More...
vec	spatialCoeff (const vec &phi_vals, const mat &phi_grid) const
	Compose spatial fourier coefficients. More...
vec	trajCoeff (const mat &xt) const
	Compose trajectory fourier coefficients. More...

Private Attributes
imat	k_
vec	lamdak_
double	lx_
double	ly_
unsigned int	total_basis_

Friends
template<class ModelT >
class	ErgodicControl

Detailed Description

Fourier cosine basis.

Definition at line 51 of file basis.hpp.

Constructor & Destructor Documentation

Basis()

ergodic_exploration::Basis::Basis	(	double	lx,
		double	ly,
		unsigned int	num_basis
	)

Constructor.

Parameters

lx	- x-axis lenght of domain
ly	- y-axis lenght of domain
num_basis	- number of each basis functions per dimension

Definition at line 48 of file basis.cpp.

Member Function Documentation

fourierBasis()

vec ergodic_exploration::Basis::fourierBasis

(

const vec &

x

)

const

Compose cosine basis functions given positon.

Parameters

x	- robot position [x y]

Returns

cosine basis functions (num_basis^2 x 1)

x must be on domain [0 lx] x [0 ly]

Definition at line 79 of file basis.cpp.

gradFourierBasis()

mat ergodic_exploration::Basis::gradFourierBasis

(

const vec &

x

)

const

Compose gradient cosine basis functions.

Parameters

x	- robot position [x y]

Returns

gradient of each basis function (2 x num_basis^2)

x must be on domain [0 lx] x [0 ly]

Definition at line 91 of file basis.cpp.

spatialCoeff()

vec ergodic_exploration::Basis::spatialCoeff	(	const vec &	phi_vals,
		const mat &	phi_grid
	)		const

Compose spatial fourier coefficients.

Parameters

phi_vals	- target evaluated at each grid cell in phi_grid
phi_grid	- discretization of fourier domain

Returns

spatial fourier coefficients (num_basis^2 x 1)

phi_grid is not the occupancy grid, the first row contains the x-cordinates and the second row contains the corresponding y-coordinates. The index of the elements in phi_vals must correspond to the columns in phi_grid.

Definition at line 122 of file basis.cpp.

trajCoeff()

vec ergodic_exploration::Basis::trajCoeff

(

const mat &

xt

)

const

Compose trajectory fourier coefficients.

Parameters

xt	- trajectory

Returns

trajectory fourier coefficients (num_basis^2 x 1)

xt must be on domain [0 lx] x [0 ly] and robot heading is not required

Definition at line 109 of file basis.cpp.

Friends And Related Function Documentation

ErgodicControl

template<class ModelT >

friend class ErgodicControl

friend

Definition at line 55 of file basis.hpp.

Member Data Documentation

k_

imat ergodic_exploration::Basis::k_

private

Definition at line 105 of file basis.hpp.

lamdak_

vec ergodic_exploration::Basis::lamdak_

private

Definition at line 104 of file basis.hpp.

lx_

double ergodic_exploration::Basis::lx_

private

Definition at line 102 of file basis.hpp.

ly_

double ergodic_exploration::Basis::ly_

private

Definition at line 102 of file basis.hpp.

total_basis_

unsigned int ergodic_exploration::Basis::total_basis_

private

Definition at line 103 of file basis.hpp.

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

• basis.hpp
• basis.cpp