cached_ik_kinematics_plugin::GreedyKCenters< _T > Class Template Reference

An instance of this class can be used to greedily select a given number of representatives from a set of data points that are all far apart from each other. More...

#include <GreedyKCenters.h>

Public Types
using	DistanceFunction = std::function< double(const _T &, const _T &)>
	The definition of a distance function. More...
using	Matrix = Eigen::MatrixXd
	A matrix type for storing distances between points and centers. More...

Public Member Functions
	GreedyKCenters ()=default
	GreedyKCenters (const GreedyKCenters &)=default
	GreedyKCenters (GreedyKCenters &&) noexcept=default
GreedyKCenters &	operator= (const GreedyKCenters &)=default
GreedyKCenters &	operator= (GreedyKCenters &&) noexcept=default
virtual	~GreedyKCenters ()=default
void	setDistanceFunction (const DistanceFunction &distFun)
	Set the distance function to use. More...
const DistanceFunction &	getDistanceFunction () const
	Get the distance function used. More...
void	kcenters (const std::vector< _T > &data, unsigned int k, std::vector< unsigned int > &centers, Matrix &dists)
	Greedy algorithm for selecting k centers. More...

Protected Attributes
DistanceFunction	distFun_
	The used distance function. More...
std::mt19937	generator_ { std::random_device{}() }

Detailed Description

template<typename _T>
class cached_ik_kinematics_plugin::GreedyKCenters< _T >

An instance of this class can be used to greedily select a given number of representatives from a set of data points that are all far apart from each other.

Definition at line 51 of file GreedyKCenters.h.

Member Typedef Documentation

DistanceFunction

template<typename _T >

using cached_ik_kinematics_plugin::GreedyKCenters< _T >::DistanceFunction = std::function<double(const _T&, const _T&)>

The definition of a distance function.

Definition at line 55 of file GreedyKCenters.h.

Matrix

template<typename _T >

using cached_ik_kinematics_plugin::GreedyKCenters< _T >::Matrix = Eigen::MatrixXd

A matrix type for storing distances between points and centers.

Definition at line 57 of file GreedyKCenters.h.

Constructor & Destructor Documentation

GreedyKCenters() [1/3]

template<typename _T >

cached_ik_kinematics_plugin::GreedyKCenters< _T >::GreedyKCenters ( )

default

GreedyKCenters() [2/3]

template<typename _T >

cached_ik_kinematics_plugin::GreedyKCenters< _T >::GreedyKCenters ( const GreedyKCenters< _T > &  )

default

GreedyKCenters() [3/3]

template<typename _T >

cached_ik_kinematics_plugin::GreedyKCenters< _T >::GreedyKCenters ( GreedyKCenters< _T > &&  )

defaultnoexcept

~GreedyKCenters()

template<typename _T >

virtual cached_ik_kinematics_plugin::GreedyKCenters< _T >::~GreedyKCenters ( )

virtualdefault

Member Function Documentation

getDistanceFunction()

template<typename _T >

const DistanceFunction& cached_ik_kinematics_plugin::GreedyKCenters< _T >::getDistanceFunction ( ) const

inline

Get the distance function used.

Definition at line 73 of file GreedyKCenters.h.

kcenters()

template<typename _T >

void cached_ik_kinematics_plugin::GreedyKCenters< _T >::kcenters ( const std::vector< _T > &  data, unsigned int  k, std::vector< unsigned int > &  centers, Matrix &  dists  )

inline

Greedy algorithm for selecting k centers.

Parameters

data	a vector of data points
k	the desired number of centers
centers	a vector of length k containing the indices into data of the k centers
dists	a matrix such that dists(i,j) is the distance between data[i] and data[center[j]]

Definition at line 86 of file GreedyKCenters.h.

operator=() [1/2]

template<typename _T >

GreedyKCenters& cached_ik_kinematics_plugin::GreedyKCenters< _T >::operator= ( const GreedyKCenters< _T > &  )

default

operator=() [2/2]

template<typename _T >

GreedyKCenters& cached_ik_kinematics_plugin::GreedyKCenters< _T >::operator= ( GreedyKCenters< _T > &&  )

defaultnoexcept

setDistanceFunction()

template<typename _T >

void cached_ik_kinematics_plugin::GreedyKCenters< _T >::setDistanceFunction ( const DistanceFunction &  distFun )

inline

Set the distance function to use.

Definition at line 67 of file GreedyKCenters.h.

Member Data Documentation

distFun_

template<typename _T >

DistanceFunction cached_ik_kinematics_plugin::GreedyKCenters< _T >::distFun_

protected

The used distance function.

Definition at line 128 of file GreedyKCenters.h.

generator_

template<typename _T >

std::mt19937 cached_ik_kinematics_plugin::GreedyKCenters< _T >::generator_ { std::random_device{}() }

protected

Random number generator used to select first center

Definition at line 131 of file GreedyKCenters.h.

---

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

• moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h