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<li class="navelem"><a class="el" href="classompl_1_1base_1_1ProjectionMatrix.html">ProjectionMatrix</a> </li>
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<a href="#pub-types">Public Types</a> |
<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">ompl::base::ProjectionMatrix Class Reference</div> </div>
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<!-- doxytag: class="ompl::base::ProjectionMatrix" -->
<p>A projection matrix -- it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated.
<a href="classompl_1_1base_1_1ProjectionMatrix.html#details">More...</a></p>
<p><code>#include <<a class="el" href="ProjectionEvaluator_8h_source.html">ProjectionEvaluator.h</a>></code></p>
<p><a href="classompl_1_1base_1_1ProjectionMatrix-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae68f9cc67896cca8050460d3fad9c803"></a><!-- doxytag: member="ompl::base::ProjectionMatrix::Matrix" ref="ae68f9cc67896cca8050460d3fad9c803" args="" -->
typedef <br class="typebreak"/>
boost::numeric::ublas::matrix<br class="typebreak"/>
< double > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803">Matrix</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Datatype for projection matrices. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5d6ba2d6abcc7ee055adaacf3699adf3"></a><!-- doxytag: member="ompl::base::ProjectionMatrix::computeRandom" ref="a5d6ba2d6abcc7ee055adaacf3699adf3" args="(const unsigned int from, const unsigned int to, const std::vector< double > &scale)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionMatrix.html#a5d6ba2d6abcc7ee055adaacf3699adf3">computeRandom</a> (const unsigned int from, const unsigned int to, const std::vector< double > &scale)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Wrapper for ComputeRandom(from, to, scale) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac6a06b411074970846c0d6aff9028022"></a><!-- doxytag: member="ompl::base::ProjectionMatrix::computeRandom" ref="ac6a06b411074970846c0d6aff9028022" args="(const unsigned int from, const unsigned int to)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionMatrix.html#ac6a06b411074970846c0d6aff9028022">computeRandom</a> (const unsigned int from, const unsigned int to)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Wrapper for ComputeRandom(from, to) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aae8c7810595867e22da08f567581721d"></a><!-- doxytag: member="ompl::base::ProjectionMatrix::project" ref="aae8c7810595867e22da08f567581721d" args="(const double *from, EuclideanProjection &to) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionMatrix.html#aae8c7810595867e22da08f567581721d">project</a> (const double *from, <a class="el" href="namespaceompl_1_1base.html#aa83f2e90d56884b236b1e400d116b10b">EuclideanProjection</a> &to) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Multiply the vector <em>from</em> by the contained projection matrix to obtain the vector <em>to</em>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af85b426d3148933a7b54e65517ba9faa"></a><!-- doxytag: member="ompl::base::ProjectionMatrix::print" ref="af85b426d3148933a7b54e65517ba9faa" args="(std::ostream &out=std::cout) const " -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionMatrix.html#af85b426d3148933a7b54e65517ba9faa">print</a> (std::ostream &out=std::cout) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print the contained projection matrix to a stram. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803">Matrix</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionMatrix.html#a306ddad92cbc26a8fa479f1ce4ab238a">ComputeRandom</a> (const unsigned int from, const unsigned int to, const std::vector< double > &scale)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute a random projection matrix with <em>from</em> columns and <em>to</em> rows. A vector with <em>from</em> elements can be multiplied by this matrix in order to produce a vector with <em>to</em> elements. <a href="#a306ddad92cbc26a8fa479f1ce4ab238a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803">Matrix</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionMatrix.html#adad1010b61fe753350445de650ada766">ComputeRandom</a> (const unsigned int from, const unsigned int to)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute a random projection matrix with <em>from</em> columns and <em>to</em> rows. A vector with <em>from</em> elements can be multiplied by this matrix in order to produce a vector with <em>to</em> elements. <a href="#adad1010b61fe753350445de650ada766"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0852751bba6e533c0e08792be5c55444"></a><!-- doxytag: member="ompl::base::ProjectionMatrix::mat" ref="a0852751bba6e533c0e08792be5c55444" args="" -->
<a class="el" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803">Matrix</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ProjectionMatrix.html#a0852751bba6e533c0e08792be5c55444">mat</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Projection matrix. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A projection matrix -- it allows multiplication of real vectors by a specified matrix. The matrix can also be randomly generated. </p>
<p>Definition at line <a class="el" href="ProjectionEvaluator_8h_source.html#l00065">65</a> of file <a class="el" href="ProjectionEvaluator_8h_source.html">ProjectionEvaluator.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a306ddad92cbc26a8fa479f1ce4ab238a"></a><!-- doxytag: member="ompl::base::ProjectionMatrix::ComputeRandom" ref="a306ddad92cbc26a8fa479f1ce4ab238a" args="(const unsigned int from, const unsigned int to, const std::vector< double > &scale)" -->
<div class="memitem">
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<td class="memname"><a class="el" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803">ompl::base::ProjectionMatrix::Matrix</a> ompl::base::ProjectionMatrix::ComputeRandom </td>
<td>(</td>
<td class="paramtype">const unsigned int </td>
<td class="paramname"><em>from</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const unsigned int </td>
<td class="paramname"><em>to</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const std::vector< double > & </td>
<td class="paramname"><em>scale</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Compute a random projection matrix with <em>from</em> columns and <em>to</em> rows. A vector with <em>from</em> elements can be multiplied by this matrix in order to produce a vector with <em>to</em> elements. </p>
<p>If the <em>scale</em> 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.</p>
<p>Each element is sampled with a Gaussian distribution with mean 0 and variance 1 and the matrix columns are made orthonormal. </p>
<p>Definition at line <a class="el" href="ProjectionEvaluator_8cpp_source.html#l00053">53</a> of file <a class="el" href="ProjectionEvaluator_8cpp_source.html">ProjectionEvaluator.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="adad1010b61fe753350445de650ada766"></a><!-- doxytag: member="ompl::base::ProjectionMatrix::ComputeRandom" ref="adad1010b61fe753350445de650ada766" args="(const unsigned int from, const unsigned int to)" -->
<div class="memitem">
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<td class="memname"><a class="el" href="classompl_1_1base_1_1ProjectionMatrix.html#ae68f9cc67896cca8050460d3fad9c803">ompl::base::ProjectionMatrix::Matrix</a> ompl::base::ProjectionMatrix::ComputeRandom </td>
<td>(</td>
<td class="paramtype">const unsigned int </td>
<td class="paramname"><em>from</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const unsigned int </td>
<td class="paramname"><em>to</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Compute a random projection matrix with <em>from</em> columns and <em>to</em> rows. A vector with <em>from</em> elements can be multiplied by this matrix in order to produce a vector with <em>to</em> elements. </p>
<p>Each element is sampled with a Gaussian distribution with mean 0 and variance 1 and the matrix columns are made orthonormal. </p>
<p>Definition at line <a class="el" href="ProjectionEvaluator_8cpp_source.html#l00082">82</a> of file <a class="el" href="ProjectionEvaluator_8cpp_source.html">ProjectionEvaluator.cpp</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/base/<a class="el" href="ProjectionEvaluator_8h_source.html">ProjectionEvaluator.h</a></li>
<li>src/ompl/base/src/<a class="el" href="ProjectionEvaluator_8cpp_source.html">ProjectionEvaluator.cpp</a></li>
</ul>
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