本文整理汇总了C++中eigen::MatrixXd::middleCols方法的典型用法代码示例。如果您正苦于以下问题：C++ MatrixXd::middleCols方法的具体用法？C++ MatrixXd::middleCols怎么用？C++ MatrixXd::middleCols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::MatrixXd的用法示例。
在下文中一共展示了MatrixXd::middleCols方法的1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: initializeTrajectory
void ExperimentalTrajectory::initializeTrajectory()
{
originalWaypoints = waypoints;
kernelLengthParameter = pointToPointDurationVector.mean();
// Add a waypoint to the end.
int extraWaypoints = 1;
int nStartWp = extraWaypoints;
int nEndWp = extraWaypoints;
int nWpNew = nWaypoints + nStartWp + nEndWp;
Eigen::MatrixXd waypointsTmp = Eigen::MatrixXd::Zero(nDoF, nWpNew);
waypointsTmp.leftCols(nStartWp) = waypoints.leftCols(1).replicate(1,nStartWp);
waypointsTmp.middleCols(nStartWp, nWaypoints) = waypoints;
waypointsTmp.rightCols(nEndWp) = waypoints.rightCols(1).replicate(1,nEndWp);
waypoints.resize(nDoF, nWaypoints);
waypoints = waypointsTmp;
// std::cout << pointToPointDurationVector << std::endl;
Eigen::VectorXd durationVectorTmp = Eigen::VectorXd::Zero(nWpNew-1);
double extraWpDt = 0.01 * kernelLengthParameter;
// double extraWpDt = 0.01 * pointToPointDurationVector.sum();
// std::cout << "extraWpDt: " << extraWpDt << std::endl;
durationVectorTmp.head(nStartWp) = Eigen::VectorXd::Constant(nStartWp, extraWpDt);
durationVectorTmp.segment(nStartWp, nWaypoints-1) = pointToPointDurationVector;
durationVectorTmp.tail(nEndWp) = Eigen::VectorXd::Constant(nEndWp, extraWpDt);
pointToPointDurationVector.resize(durationVectorTmp.size());
pointToPointDurationVector = durationVectorTmp;
nWaypoints = nWpNew;
std::cout << pointToPointDurationVector << std::endl;
calculateVarianceParameters();
}