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LinearCombination Class Reference

DrakeFunction which given n points in the same frame, as well as n weights, returns the linear combination of those points with those weights. More...

Inheritance diagram for LinearCombination:
Collaboration diagram for LinearCombination:

Public Member Functions

function LinearCombination (n_pts, dim_pts)
 obj = LinearCombination(n_pts,frame) returns a DrakeFunction object representing the linear combination of n_pts points in 'frame'. More...
 
function eval (obj, x)
 [f,df] = eval(obj,x) returns the linear combination for the given points and weights. More...
 

Public Attributes

Property n_pts
 
Property dim_pts
 
Property index_map
 

Detailed Description

DrakeFunction which given n points in the same frame, as well as n weights, returns the linear combination of those points with those weights.

\[ f(r_1, \dots, r_n, \lambda) = \sum_{i=1}^n \lambda_i r_i, \]

where

\[ r_i \in X,\; i=1,\dots,n \]

and

\[ \lambda \in R^n. \]

Constructor & Destructor Documentation

function LinearCombination ( n_pts  ,
dim_pts   
)

obj = LinearCombination(n_pts,frame) returns a DrakeFunction object representing the linear combination of n_pts points in 'frame'.

Parameters
n_pts– Integer number of points
frameCoordinateFrame to which the points belong
Return values
obj– drakeFunction.LinearCombination object

Member Function Documentation

function eval ( obj  ,
 
)

[f,df] = eval(obj,x) returns the linear combination for the given points and weights.

Parameters
obj– drakeFunction.LinearCombination object
x– Input vector
Return values
f– Output vector
df– Jacobian of output vector

Member Data Documentation

Property dim_pts
Property index_map
Property n_pts

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