Drake
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 frame – CoordinateFrame to which the points belong
Return values
 obj – drakeFunction.LinearCombination object

## Member Function Documentation

 function eval ( obj , x )

[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:
• /home/ubuntu/workspace/linux-gcc-continuous-matlab-documentation/drake/matlab/solvers/+drakeFunction/LinearCombination.m