Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
ompl::base::ProjectionMatrix Class Reference

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

using Matrix = Eigen::MatrixXd
 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 122 of file ProjectionEvaluator.h.

Member Function Documentation

◆ ComputeRandom() [1/2]

ompl::base::ProjectionMatrix::Matrix ompl::base::ProjectionMatrix::ComputeRandom ( unsigned int  from,
unsigned int  to 
)
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.

◆ ComputeRandom() [2/2]

ompl::base::ProjectionMatrix::Matrix ompl::base::ProjectionMatrix::ComputeRandom ( unsigned int  from,
unsigned int  to,
const std::vector< double > &  scale 
)
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.

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