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C++ Matrix::cwiseProduct方法代码示例

本文整理汇总了C++中eigen::Matrix::cwiseProduct方法的典型用法代码示例。如果您正苦于以下问题：C++ Matrix::cwiseProduct方法的具体用法？C++ Matrix::cwiseProduct怎么用？C++ Matrix::cwiseProduct使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类eigen::Matrix的用法示例。


在下文中一共展示了Matrix::cwiseProduct方法的6个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: 

	PointCoordinateMatrices	ConverterPlaneFromTo3d::projectTo3d(Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> image)
	{
		PointCoordinateMatrices reshapedCoordinates;

		//std::cout << "image: " << std::endl << image << std::endl << std::endl;

		//As defined for the example data sets to get the distance in meters Z = depth / 5000 TODO change for kinect data (maybe is the same...)
		Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> z = image.array() / 1;// 5000;
		Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> x = z.cwiseProduct(xAdjustment_);
		Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> y = z.cwiseProduct(yAdjustment_);

		//std::cout << "x: " << std::endl << x << std::endl << std::endl;
		//std::cout << "y: " << std::endl << y << std::endl << std::endl;
		//std::cout << "z: " << std::endl << z << std::endl << std::endl;

		reshapedCoordinates.x = Eigen::Map<Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>>(x.data(), 1, image.size());
		reshapedCoordinates.y = Eigen::Map<Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>>(y.data(), 1, image.size());
		reshapedCoordinates.z = Eigen::Map<Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>>(z.data(), 1, image.size());

		return reshapedCoordinates;
	}
开发者ID:AlexReimann，项目名称:Projected-Search-ICP-Slam，代码行数:21，代码来源:ConverterPlaneFromTo3d.cpp

示例2: calculateGaussPdf

template<int N> void calculateGaussPdf(Eigen::Matrix<double,Eigen::Dynamic,N> X, Eigen::Matrix<double,1,N> mu, Eigen::Matrix<double,N,N> C, double* result){
    Eigen::Matrix<double,N,N> L = C.llt().matrixL().transpose(); // cholesky decomposition
    Eigen::Matrix<double,N,N> Linv = L.inverse();
    
    double det = L.diagonal().prod(); //determinant of L is equal to square rooot of determinant of C
	double lognormconst = -log(2 * M_PI)*X.cols()/2 - log(fabs(det));

    Eigen::Matrix<double,1,N> x = mu;
    Eigen::Matrix<double,1,N> tmp = x;
    for (int i=0; i<X.rows(); i++){
        x.noalias() = X.row(i) - mu;
        tmp.noalias() = x*Linv;
        double exponent = -0.5 * (tmp.cwiseProduct(tmp)).sum();
        result[i] = lognormconst+exponent;
    }
    
    /*
	Eigen::Matrix<double,Eigen::Dynamic,N> X0 = (X.rowwise() - mu)*Linv;
	Eigen::Map<Eigen::Matrix<double,Eigen::Dynamic,1> > resultMap(result, X.rows());
	resultMap = (X0.rowwise().squaredNorm()).array() * (-0.5) + lognormconst;
    */
    
    fmath::expd_v(result, X.rows());
}
开发者ID:boeddeker，项目名称:libDirectional，代码行数:24，代码来源:mvnpdffast.cpp

示例3: main

int main()
{

	//********************************************************
	// Initialization
	//********************************************************

	double M=0.6;
	double Ix=8*1e-3; // moment of inertia in X- Y- and Z-axis
	double Iy=7.5*1e-3;
	double Iz=13.5*1e-3;
	double d=0.2; // displacement of rotors
	double kt=0.6;
	double km=0.15;

	char file[]="/media/fantaosha/Documents/JHU/Summer 2015/quad_rotor_traj/traj_full_12s_1_small.mat";

	mxArray *mxR;
	mxArray *mxw;
	mxArray *mxxq;
	mxArray *mxvq;
	mxArray *mxU;

	mxR=matGetVariable(matOpen(file,"r"),"state_R");
	mxw=matGetVariable(matOpen(file,"r"),"state_w");
	mxxq=matGetVariable(matOpen(file,"r"),"state_xq");
	mxvq=matGetVariable(matOpen(file,"r"),"state_vq");
#ifdef ROT_INPUT
	mxU=matGetVariable(matOpen(file,"r"),"U");
#else
	mxU=matGetVariable(matOpen(file,"r"),"F");
#endif
	size_t N=mxGetN(mxU);
	size_t sN=5;

	void *pR=mxGetPr(mxR);
	void *pw=mxGetPr(mxw);
	void *pxq=mxGetPr(mxxq);
	void *pvq=mxGetPr(mxvq);
	void *pU=mxGetPr(mxU);

	std::list<typename quadrotor::State> list_par1;
	std::list<typename quadrotor::State> list_par2;

	for(int i=0;i<N;i+=sN)
	{
		Eigen::Matrix<double,3,3> R;
		Eigen::Matrix<double,3,1> w,xq,vq;

		memcpy(R.data(),pR,sizeof(double)*R.rows()*R.cols());
		memcpy(w.data(),pw,sizeof(double)*w.rows()*w.cols());
		memcpy(xq.data(),pxq,sizeof(double)*xq.rows()*xq.cols());
		memcpy(vq.data(),pvq,sizeof(double)*vq.rows()*vq.cols());

		list_par1.emplace_back(R,xq,w,R.transpose()*vq);

		if((i+1)%2)
			list_par2.emplace_back(R,xq,w,R.transpose()*vq);

		pR+=sizeof(double)*R.rows()*R.cols()*sN;
		pw+=sizeof(double)*w.rows()*w.cols()*sN;
		pxq+=sizeof(double)*xq.rows()*xq.cols()*sN;
		pvq+=sizeof(double)*vq.rows()*vq.cols()*sN;
	}

	sN=10;

	std::list<typename quadrotor::U> list_u1;
	std::list<typename quadrotor::U> list_u2;

#ifdef ROT_INPUT
	for(int i=0;i<N;i+=sN)
	{
		Eigen::Matrix<double,4,1> u;
		memcpy(u.data(),pU,sizeof(double)*u.rows()*u.cols());
		list_u1.push_back(u.cwiseProduct(u));
		list_u2.push_back(u);
		pU+=sizeof(double)*u.rows()*u.cols()*sN;
	}
#else
	for(int i=0;i<N;i+=sN)
	{
		Eigen::Matrix<double,4,1> u;
		memcpy(u.data(),pU,sizeof(double)*u.rows()*u.cols());
		list_u.push_back(u);
		pU+=sizeof(double)*u.rows()*u.cols()*sN;
	}
#endif
	mxDestroyArray(mxR);
	mxDestroyArray(mxw);
	mxDestroyArray(mxxq);
	mxDestroyArray(mxvq);
	mxDestroyArray(mxU);

	std::srand((unsigned int) time(0));

	// initialize SAC
	Mat12 PM=2500*Mat12::Identity();
	PM.block(0,0,3,3)*=10;
	PM.block(3,3,3,3)*=40;
//.........这里部分代码省略.........
开发者ID:fantaosha，项目名称:sac，代码行数:101，代码来源:quadrotor_sac_smooth.cpp

示例4: main

int main()
{

	double M=0.6;
	double d=0.2; // displacement of rotors
	double kt=0.6;
	double km=0.15;
	double K=5;

	double Ix1=8*5e-3; // moment of inertia in X- Y- and Z-axis
	double Iy1=7.5*5e-3;
	double Iz1=13.5*5e-3;
	char file1[]="/media/fantaosha/Documents/JHU/Summer 2015/quad_rotor_traj/traj_full_12s_ud_2.mat";

	double Ix2=8*1e-3; // moment of inertia in X- Y- and Z-axis
	double Iy2=7.5*1e-3;
	double Iz2=13.5*1e-3;
	char file2[]="/media/fantaosha/Documents/JHU/Summer 2015/quad_rotor_traj/traj_full_12s_ud_small_5.mat";

	Eigen::Matrix<double,4,4> B=(Eigen::Matrix<double,4,4>() <<    0, kt*d,    0, -kt*d,
			                                                   -kt*d,    0, kt*d,     0,
															      km,  -km,   km,   -km,
																  kt,   kt,   kt,    kt).finished();

	Eigen::Matrix<double,4,4> Binv=(Eigen::Matrix<double,4,4>() <<          0, -1/(2*d*kt),  1/(4*km),  1/(4*kt),
																   1/(2*d*kt),           0, -1/(4*km),  1/(4*kt),
																            0,  1/(2*d*kt),  1/(4*km),  1/(4*kt),
																  -1/(2*d*kt),           0, -1/(4*km),  1/(4*kt)).finished();

	// load control inputs for SAC
	mxArray *mxR1;
	mxArray *mxw1;
	mxArray *mxxq1;
	mxArray *mxvq1;
	mxArray *mxU1;
	mxArray *mxUd1;

	mxR1=matGetVariable(matOpen(file1,"r"),"state_R");
	mxw1=matGetVariable(matOpen(file1,"r"),"state_w");
	mxxq1=matGetVariable(matOpen(file1,"r"),"state_xq");
	mxvq1=matGetVariable(matOpen(file1,"r"),"state_vq");
	mxU1=matGetVariable(matOpen(file1,"r"),"U");
	mxUd1=matGetVariable(matOpen(file1,"r"),"Ud");

	size_t N=mxGetN(mxU1);
	size_t sN=5;

	void *pR1=mxGetPr(mxR1);
	void *pw1=mxGetPr(mxw1);
	void *pxq1=mxGetPr(mxxq1);
	void *pvq1=mxGetPr(mxvq1);
	void *pU1=mxGetPr(mxU1);

	std::list<typename quadrotor_ext::State> list_ref1;

	for(int i=0;i<N;i+=sN)
	{
		Eigen::Matrix<double,3,3> R;
		Eigen::Matrix<double,3,1> w,xq,vq;
		Eigen::Matrix<double,4,1> u;

		memcpy(R.data(),pR1,sizeof(double)*R.rows()*R.cols());
		memcpy(w.data(),pw1,sizeof(double)*w.rows()*w.cols());
		memcpy(xq.data(),pxq1,sizeof(double)*xq.rows()*xq.cols());
		memcpy(vq.data(),pvq1,sizeof(double)*vq.rows()*vq.cols());
		memcpy(u.data(),pU1,sizeof(double)*u.rows()*u.cols());

		list_ref1.emplace_back(R,xq,w,R.transpose()*vq,u.cwiseProduct(u));

		pR1+=sizeof(double)*R.rows()*R.cols()*sN;
		pw1+=sizeof(double)*w.rows()*w.cols()*sN;
		pxq1+=sizeof(double)*xq.rows()*xq.cols()*sN;
		pvq1+=sizeof(double)*vq.rows()*vq.cols()*sN;
		pU1+=sizeof(double)*u.rows()*u.cols()*sN;
	}

	sN=10;

	std::list<typename quadrotor_ext::U> list_ud1;

	void *pUd1=mxGetPr(mxUd1)+sizeof(double)*5*4;

	for(int i=sN/2;i<N;i+=sN)
	{
		Eigen::Matrix<double,4,1> ud;

		memcpy(ud.data(),pUd1,sizeof(double)*ud.rows()*ud.cols());

		list_ud1.push_back(ud.cwiseProduct(ud));

		pUd1+=sizeof(double)*ud.rows()*ud.cols()*sN;
	}

	mxDestroyArray(mxR1);
	mxDestroyArray(mxw1);
	mxDestroyArray(mxxq1);
	mxDestroyArray(mxvq1);
	mxDestroyArray(mxU1);
	mxDestroyArray(mxUd1);

//.........这里部分代码省略.........
开发者ID:fantaosha，项目名称:sac，代码行数:101，代码来源:quadrotor_ext_sac.cpp

示例5: main

int main()
{
#ifdef TRACK
	char file[]="/media/fantaosha/Documents/JHU/Summer 2015/quad_rotor_traj/traj_full_12s_1_small.mat";

	mxArray *mxR;
	mxArray *mxw;
	mxArray *mxxq;
	mxArray *mxvq;
	mxArray *mxU;

	mxR=matGetVariable(matOpen(file,"r"),"state_R");
	mxw=matGetVariable(matOpen(file,"r"),"state_w");
	mxxq=matGetVariable(matOpen(file,"r"),"state_xq");
	mxvq=matGetVariable(matOpen(file,"r"),"state_vq");

	mxU=matGetVariable(matOpen(file,"r"),"U");

	size_t N=mxGetN(mxU);
	size_t sN=10;

	void *pR=mxGetPr(mxR);
	void *pw=mxGetPr(mxw);
	void *pxq=mxGetPr(mxxq);
	void *pvq=mxGetPr(mxvq);
	void *pU=mxGetPr(mxU);

	std::vector<typename quadrotor::State> xrefs;
	xrefs.reserve(N/sN+1);

	for(int i=0;i<N;i+=sN)
	{
		Eigen::Matrix<double,3,3> R;
		Eigen::Matrix<double,3,1> w,xq,vq;

		memcpy(R.data(),pR,sizeof(double)*R.rows()*R.cols());
//		R=(Vec3()<<1,-1,-1).finished().asDiagonal();
//		w<<0,0,0;
		memcpy(w.data(),pw,sizeof(double)*w.rows()*w.cols());
		memcpy(xq.data(),pxq,sizeof(double)*xq.rows()*xq.cols());
		memcpy(vq.data(),pvq,sizeof(double)*vq.rows()*vq.cols());

		xrefs.emplace_back(R,xq,w,R.transpose()*vq);

		pR+=sizeof(double)*R.rows()*R.cols()*sN;
		pw+=sizeof(double)*w.rows()*w.cols()*sN;
		pxq+=sizeof(double)*xq.rows()*xq.cols()*sN;
		pvq+=sizeof(double)*vq.rows()*vq.cols()*sN;
	}

	sN=10;

	std::vector<typename quadrotor::U> us;
	us.reserve(N/sN+1);

	for(int i=0;i<N;i+=sN)
	{
		Eigen::Matrix<double,4,1> u;
		memcpy(u.data(),pU,sizeof(double)*u.rows()*u.cols());
		us.push_back(u.cwiseProduct(u));
		pU+=sizeof(double)*u.rows()*u.cols()*sN;
	}
#else
	quadrotor::State xref;
	xref.g.block(0,0,3,3)=SO3::exp((Vec3()<<0,0,0).finished());
	xref.g.block(0,3,3,1)=(Vec3()<<0,0,0).finished();

	std::vector<quadrotor::State> xrefs(4000,xref);
	std::vector<quadrotor::U> us(4000, Vec4::Zero());
#endif

	std::srand((unsigned int) time(0));
	// Set up quadrotor parameters
	double m=0.6;
	double Ix=8*1e-3; // moment of inertia in X- Y- and Z-axis
	double Iy=7.5*1e-3;
	double Iz=13.5*1e-3;
	double d=0.2; // displacement of rotors
	double kt=0.6;
	double km=0.15;

	quadrotor::System sys(Ix,Iy,Iz,m,d,km,kt);
	
	// Set up cost function
	Mat12 Mf=5*Mat12::Identity()/10;
	Mf.block(0,0,3,3)*=1;
	Mf.block(3,3,3,3)*=6;
//	Mf.block(6,6,6,6)=Mf.block(0,0,6,6);
	Mat12 M=Mf/2;
	Mat4 R=Mat4::Identity()/50;
	DDP<quadrotor>::Params params(M,R,Mf);

	// Set up initial state
	quadrotor::State x0=xrefs[0];

	x0.g.block(0,3,3,1)-=(Vec3::Random()).normalized()*3;
	x0.g.block(0,0,3,3)*=SO3::exp(Vec3::Random().normalized()*1);
//	x0.g.block(0,0,3,3)*=SO3::exp((Vec3()<<3.14,0,0).finished());
	x0.v.head(3)-=Vec3::Random().normalized()*0;
	x0.v.tail(3)-=Vec3::Random().normalized()*0;
//.........这里部分代码省略.........
开发者ID:fantaosha，项目名称:iLQG，代码行数:101，代码来源:quadrotor_ddp.cpp

示例6: main

int main()
{

	//********************************************************
	// Initialization
	//********************************************************

	double M=0.6;
	double Ix=8*5e-3; // moment of inertia in X- Y- and Z-axis
	double Iy=7.5*5e-3;
	double Iz=13.5*5e-3;
	double d=0.2; // displacement of rotors
	double kt=0.6;
	double km=0.15;

	char file[]="/media/fantaosha/Documents/JHU/Summer 2015/quad_rotor_traj/traj_full_12s_7.mat";

//	double M=2; // mass of quadrotor
//	double Ix=1.2; // moment of inertia in X- Y- and Z-axis
//	double Iy=1.2;
//	double Iz=2.3;
//	double d=0.25; // displacement of rotors
//	double kt=1;
//	double km=0.20;
//
//	char file[]="/media/fantaosha/Documents/JHU/Summer 2015/quad_rotor_traj/traj_full_12s_2.mat";

	mxArray *mxR;
	mxArray *mxw;
	mxArray *mxxq;
	mxArray *mxvq;
	mxArray *mxU;

	mxR=matGetVariable(matOpen(file,"r"),"state_R");
	mxw=matGetVariable(matOpen(file,"r"),"state_w");
	mxxq=matGetVariable(matOpen(file,"r"),"state_xq");
	mxvq=matGetVariable(matOpen(file,"r"),"state_vq");
#ifdef ROT_INPUT
	mxU=matGetVariable(matOpen(file,"r"),"U");
#else
	mxU=matGetVariable(matOpen(file,"r"),"F");
#endif
	size_t N=mxGetN(mxU);
	size_t sN=5;

	void *pR=mxGetPr(mxR);
	void *pw=mxGetPr(mxw);
	void *pxq=mxGetPr(mxxq);
	void *pvq=mxGetPr(mxvq);
	void *pU=mxGetPr(mxU);

	std::list<typename quadrotor::State> list_PAR1;
	std::list<typename quadrotor::State> list_PAR2;

	for(int i=0;i<N;i+=sN)
	{
		Eigen::Matrix<double,3,3> R;
		Eigen::Matrix<double,3,1> w,xq,vq;

		memcpy(R.data(),pR,sizeof(double)*R.rows()*R.cols());
		memcpy(w.data(),pw,sizeof(double)*w.rows()*w.cols());
		memcpy(xq.data(),pxq,sizeof(double)*xq.rows()*xq.cols());
		memcpy(vq.data(),pvq,sizeof(double)*vq.rows()*vq.cols());

		list_PAR1.emplace_back(R,xq,w,R.transpose()*vq);

		if((i+1)%2)
			list_PAR2.emplace_back(R,xq,w,R.transpose()*vq);

		pR+=sizeof(double)*R.rows()*R.cols()*sN;
		pw+=sizeof(double)*w.rows()*w.cols()*sN;
		pxq+=sizeof(double)*xq.rows()*xq.cols()*sN;
		pvq+=sizeof(double)*vq.rows()*vq.cols()*sN;
	}

	sN=10;

	std::list<typename quadrotor::U> list_U1;
	std::list<typename quadrotor::U> list_U2;

#ifdef ROT_INPUT
	for(int i=0;i<N;i+=sN)
	{
		Eigen::Matrix<double,4,1> u;
		memcpy(u.data(),pU,sizeof(double)*u.rows()*u.cols());
		list_U1.push_back(u.cwiseProduct(u));
		list_U2.push_back(u);
		pU+=sizeof(double)*u.rows()*u.cols()*sN;
	}
#else
	for(int i=0;i<N;i+=sN)
	{
		Eigen::Matrix<double,4,1> u;
		memcpy(u.data(),pU,sizeof(double)*u.rows()*u.cols());
		list_u.push_back(u);
		pU+=sizeof(double)*u.rows()*u.cols()*sN;
	}
#endif
	mxDestroyArray(mxR);
	mxDestroyArray(mxw);
//.........这里部分代码省略.........
开发者ID:fantaosha，项目名称:sac，代码行数:101，代码来源:quadrotor_attraction_estimation.cpp


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