Template Struct R2SO2

• Defined in File StateSpace.h

Struct Documentation

template<typename Scalar>
struct R2SO2

Public Types

using cref_t = const Eigen::Ref<const Eigen::Matrix<Scalar, 3, 1>>&

using ref_t = Eigen::Ref<Eigen::Matrix<Scalar, 3, 1>>

using vec_t = Eigen::Matrix<Scalar, 3, 1>

using cref2_t = const Eigen::Ref<const Eigen::Matrix<Scalar, 2, 1>>&

using ref2_t = Eigen::Ref<Eigen::Matrix<Scalar, 2, 1>>

Public Functions

inline void choose_split_dimension(cref_t lb, cref_t ub, int &ii, Scalar &width)

inline void print(std::ostream &out)

inline void set_weights(cref_t wr2, double wso2)

inline void set_bounds(cref2_t lb_, cref2_t ub_)

inline bool check_bounds(cref_t x) const

inline void sample_uniform(ref_t x) const

inline void interpolate(cref_t from, cref_t to, Scalar t, ref_t out) const

inline Scalar distance_to_rectangle(cref_t x, cref_t lb, cref_t ub) const

inline Scalar distance(cref_t x, cref_t y) const

Public Members

Scalar angular_weight = 1.0

Rn<Scalar, 2> l2

SO2<Scalar> so2

vec_t weights

bool use_weights = false