A projection matrix – it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated. More...
#include <ompl/base/ProjectionEvaluator.h>
Public Types  
typedef Eigen::MatrixXd  Matrix 
Datatype for projection matrices.  
Public Member Functions  
void  computeRandom (unsigned int from, unsigned int to, const std::vector< double > &scale) 
Wrapper for ComputeRandom(from, to, scale)  
void  computeRandom (unsigned int from, unsigned int to) 
Wrapper for ComputeRandom(from, to)  
void  project (const double *from, Eigen::Ref< Eigen::VectorXd > to) const 
Multiply the vector from by the contained projection matrix to obtain the vector to.  
void  print (std::ostream &out=std::cout) const 
Print the contained projection matrix to a stram.  
Static Public Member Functions  
static Matrix  ComputeRandom (unsigned int from, 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. More...  
static Matrix  ComputeRandom (unsigned int from, 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. This uses the function above called with an empty scale vector. More...  
Public Attributes  
Matrix  mat 
Projection matrix.  
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 58 of file ProjectionEvaluator.h.
Member Function Documentation
◆ ComputeRandom() [1/2]

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. If the scale for a column is 0, the column itself is set to 0.
Each element is sampled with a Gaussian distribution with mean 0 and variance 1 and the matrix rows are made orthonormal.
Definition at line 48 of file ProjectionEvaluator.cpp.
◆ ComputeRandom() [2/2]

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. This uses the function above called with an empty scale vector.
Each element is sampled with a Gaussian distribution with mean 0 and variance 1 and the matrix rows are made orthonormal.
Definition at line 83 of file ProjectionEvaluator.cpp.
The documentation for this class was generated from the following files:
 ompl/base/ProjectionEvaluator.h
 ompl/base/src/ProjectionEvaluator.cpp