mrpt::math::MatrixVectorBase< Scalar, Derived > Class Template Reference

Detailed Description

template<typename Scalar, class Derived>
class mrpt::math::MatrixVectorBase< Scalar, Derived >

Base CRTP class for all MRPT vectors and matrices.

Template methods whose implementation is not in this header file are explicitly instantiated and exported for these derived types:

• CMatrixDynamic and CVectorDynamic, for Scalar: float, double
• CMatrixFixed and CVectorFixed, for Scalar: float, double, and sizes from 2x2 to 6x6 and 2 to 6, respectively.

See also

CMatrixFixed

Definition at line 56 of file MatrixVectorBase.h.

#include <mrpt/math/MatrixVectorBase.h>

Inheritance diagram for mrpt::math::MatrixVectorBase< Scalar, Derived >:

Public Member Functions
Derived &	mvbDerived ()
const Derived &	mvbDerived () const
Operations that DO require `#include <Eigen/Dense>` in user code
template<int BLOCK_ROWS, int BLOCK_COLS>
auto	block (int start_row, int start_col)
	non-const block(): Returns an Eigen::Block reference to the block More...
auto	block (int start_row, int start_col, int BLOCK_ROWS, int BLOCK_COLS)
auto	block (int start_row, int start_col, int BLOCK_ROWS, int BLOCK_COLS) const
auto	transpose ()
auto	transpose () const
auto	array ()
auto	array () const
auto	operator- () const
template<typename S2 , class D2 >
auto	operator+ (const MatrixVectorBase< S2, D2 > &m2) const
template<typename S2 , class D2 >
void	operator+= (const MatrixVectorBase< S2, D2 > &m2)
template<typename S2 , class D2 >
auto	operator- (const MatrixVectorBase< S2, D2 > &m2) const
template<typename S2 , class D2 >
void	operator-= (const MatrixVectorBase< S2, D2 > &m2)
template<typename S2 , class D2 >
auto	operator* (const MatrixVectorBase< S2, D2 > &m2) const
auto	operator* (const Scalar s) const
template<int N>
CMatrixFixed< Scalar, N, 1 >	tail () const
template<int N>
CMatrixFixed< Scalar, N, 1 >	head () const

Initialization methods
void	fill (const Scalar &val)
void	setConstant (const Scalar value)
void	setConstant (size_t nrows, size_t ncols, const Scalar value)
void	setConstant (size_t nrows, const Scalar value)
void	assign (const std::size_t N, const Scalar value)
void	setZero ()
void	setZero (size_t nrows, size_t ncols)
void	setZero (size_t nrows)
static Derived	Constant (const Scalar value)
static Derived	Constant (size_t nrows, size_t ncols, const Scalar value)
static Derived	Zero ()
static Derived	Zero (size_t nrows, size_t ncols)

Standalone operations (do NOT require `#include <Eigen/Dense>`)
Scalar &	coeffRef (int r, int c)
const Scalar &	coeff (int r, int c) const
Scalar	minCoeff () const
	Minimum value in the matrix/vector. More...
Scalar	minCoeff (std::size_t &outIndexOfMin) const
Scalar	minCoeff (std::size_t &rowIdx, std::size_t &colIdx) const
Scalar	maxCoeff () const
	Maximum value in the matrix/vector. More...
Scalar	maxCoeff (std::size_t &outIndexOfMax) const
Scalar	maxCoeff (std::size_t &rowIdx, std::size_t &colIdx) const
bool	isSquare () const
	returns true if matrix is NxN More...
bool	empty () const
	returns true if matrix/vector has size=0 More...
Scalar	norm_inf () const
	Compute the norm-infinite of a vector ($f[ ||{v}||_ $f]), ie the maximum absolute value of the elements. More...
Scalar	norm () const
	Compute the L2 norm of a vector/array/matrix (the Euclidean distance to the origin, taking all the elements as a single vector). More...
void	operator+= (Scalar s)
void	operator-= (Scalar s)
void	operator*= (Scalar s)
CMatrixDynamic< Scalar >	operator* (const CMatrixDynamic< Scalar > &v)
Derived	operator+ (const Derived &m2) const
void	operator+= (const Derived &m2)
Derived	operator- (const Derived &m2) const
void	operator-= (const Derived &m2)
Derived	operator* (const Derived &m2) const
Scalar	dot (const CVectorDynamic< Scalar > &v) const
	dot product of this \cdot v More...
Scalar	dot (const MatrixVectorBase< Scalar, Derived > &v) const
void	matProductOf_Ab (const CMatrixDynamic< Scalar > &A, const CVectorDynamic< Scalar > &b)
	this = A * b , with A and b a dynamic matrix & vector More...
void	matProductOf_Atb (const CMatrixDynamic< Scalar > &A, const CVectorDynamic< Scalar > &b)
	this = AT * b , with A and b a dynamic matrix & vector More...
Scalar	sum () const
	Sum of all elements in matrix/vector. More...
Scalar	sum_abs () const
	Sum of the absolute value of all elements in matrix/vector. More...
std::string	asString () const
	Returns a string representation of the vector/matrix, using Eigen's default settings. More...
bool	fromMatlabStringFormat (const std::string &s, mrpt::optional_ref< std::ostream > dump_errors_here=std::nullopt)
	Reads a matrix from a string in Matlab-like format, for example: "[1 0 2; 0 4 -1]" The string must start with '[' and end with ']'. More...
std::string	inMatlabFormat (const std::size_t decimal_digits=6) const
	Exports the matrix as a string compatible with Matlab/Octave. More...
void	saveToTextFile (const std::string &file, mrpt::math::TMatrixTextFileFormat fileFormat=mrpt::math::MATRIX_FORMAT_ENG, bool appendMRPTHeader=false, const std::string &userHeader=std::string()) const
	Saves the vector/matrix to a file compatible with MATLAB/Octave text format. More...
void	loadFromTextFile (std::istream &f)
	Loads a vector/matrix from a text file, compatible with MATLAB text format. More...
void	loadFromTextFile (const std::string &file)
template<typename OTHERMATVEC >
bool	operator== (const OTHERMATVEC &o) const
template<typename OTHERMATVEC >
bool	operator!= (const OTHERMATVEC &o) const
Derived	impl_op_add (const Derived &m2) const
void	impl_op_selfadd (const Derived &m2)
Derived	impl_op_subs (const Derived &m2) const
void	impl_op_selfsubs (const Derived &m2)

Member Function Documentation

array() [1/2]

template<typename Scalar, class Derived>

auto mrpt::math::MatrixVectorBase< Scalar, Derived >::array ( )

inline

Definition at line 170 of file MatrixVectorBase.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration(), mrpt::slam::CRangeBearingKFSLAM::computeOffDiagonalBlocksApproximationError(), mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::obs::CActionRobotMovement2D::prepareFastDrawSingleSample_modelGaussian(), mrpt::maps::CLandmarksMap::saveToMATLABScript2D(), and TEST().

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array() [2/2]

template<typename Scalar, class Derived>

auto mrpt::math::MatrixVectorBase< Scalar, Derived >::array ( ) const

inline

Definition at line 175 of file MatrixVectorBase.h.

assign()

template<typename Scalar, class Derived>

void mrpt::math::MatrixVectorBase< Scalar, Derived >::assign ( const std::size_t  N, const Scalar  value  )

inline

Definition at line 106 of file MatrixVectorBase.h.

Referenced by mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::obs::CActionRobotMovement2D::fastDrawSingleSample_modelGaussian(), mrpt::slam::CRangeBearingKFSLAM2D::reset(), and mrpt::slam::CRangeBearingKFSLAM::reset().

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asString()

template<typename Scalar , class Derived >

std::string mrpt::math::MatrixVectorBase< Scalar, Derived >::asString

(

)

const

Returns a string representation of the vector/matrix, using Eigen's default settings.

Definition at line 337 of file MatrixVectorBase_impl.h.

Referenced by mrpt::math::operator<<(), and quat_vs_YPR().

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block() [1/3]

template<typename Scalar, class Derived>

template<int BLOCK_ROWS, int BLOCK_COLS>

auto mrpt::math::MatrixVectorBase< Scalar, Derived >::block ( int  start_row, int  start_col  )

inline

non-const block(): Returns an Eigen::Block reference to the block

Definition at line 138 of file MatrixVectorBase.h.

Referenced by mrpt::poses::CPosePDFSOG::changeCoordinatesReference(), mrpt::poses::CPosePDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getAsDense(), mrpt::math::TPose3D::getHomogeneousMatrix(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::poses::CPointPDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPose3D::serializeFrom(), Pose3DTests::test_composePointJacob(), Pose3DQuatTests::test_invComposePointJacob(), Pose3DTests::test_invComposePointJacob(), Pose3DQuatTests::test_normalizeJacob(), Pose3DQuatTests::test_sphericalCoords(), Pose3DPDFGaussTests::testCompositionJacobian(), and Pose3DQuatPDFGaussTests::testCompositionJacobian().

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block() [2/3]

template<typename Scalar, class Derived>

auto mrpt::math::MatrixVectorBase< Scalar, Derived >::block ( int  start_row, int  start_col, int  BLOCK_ROWS, int  BLOCK_COLS  )

inline

Definition at line 145 of file MatrixVectorBase.h.

block() [3/3]

template<typename Scalar, class Derived>

auto mrpt::math::MatrixVectorBase< Scalar, Derived >::block ( int  start_row, int  start_col, int  BLOCK_ROWS, int  BLOCK_COLS  ) const

inline

Definition at line 151 of file MatrixVectorBase.h.

coeff()

template<typename Scalar, class Derived>

const Scalar& mrpt::math::MatrixVectorBase< Scalar, Derived >::coeff ( int  r, int  c  ) const

inline

Definition at line 244 of file MatrixVectorBase.h.

Referenced by mrpt::obs::detail::do_project_3d_pointcloud(), mrpt::obs::TRangeImageFilter::do_range_filter(), and mrpt::obs::CObservation3DRangeScan::rangeImageAsImage().

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coeffRef()

template<typename Scalar, class Derived>

Scalar& mrpt::math::MatrixVectorBase< Scalar, Derived >::coeffRef ( int  r, int  c  )

inline

Definition at line 243 of file MatrixVectorBase.h.

Referenced by mrpt::obs::detail::do_project_3d_pointcloud(), mrpt::obs::detail::do_project_3d_pointcloud_SSE2(), mrpt::img::CImage::getAsMatrix(), mrpt::img::CImage::getAsRGBMatrices(), and mrpt::vision::CFeature::getFirstDescriptorAsMatrix().

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Constant() [1/2]

template<typename Scalar, class Derived>

static Derived mrpt::math::MatrixVectorBase< Scalar, Derived >::Constant ( const Scalar  value )

inlinestatic

Definition at line 89 of file MatrixVectorBase.h.

Referenced by mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::Zero().

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Constant() [2/2]

template<typename Scalar, class Derived>

static Derived mrpt::math::MatrixVectorBase< Scalar, Derived >::Constant ( size_t  nrows, size_t  ncols, const Scalar  value  )

inlinestatic

Definition at line 99 of file MatrixVectorBase.h.

dot() [1/2]

template<typename Scalar , class Derived >

Scalar mrpt::math::MatrixVectorBase< Scalar, Derived >::dot

(

const CVectorDynamic< Scalar > &

v

)

const

dot product of this \cdot v

Definition at line 511 of file MatrixVectorBase_impl.h.

dot() [2/2]

template<typename Scalar , class Derived >

Scalar mrpt::math::MatrixVectorBase< Scalar, Derived >::dot

(

const MatrixVectorBase< Scalar, Derived > &

v

)

const

Definition at line 524 of file MatrixVectorBase_impl.h.

empty()

template<typename Scalar, class Derived>

bool mrpt::math::MatrixVectorBase< Scalar, Derived >::empty ( ) const

inline

returns true if matrix/vector has size=0

Definition at line 260 of file MatrixVectorBase.h.

fill()

template<typename Scalar, class Derived>

void mrpt::math::MatrixVectorBase< Scalar, Derived >::fill ( const Scalar &  val )

inline

Fill all the elements with a given value (Note: named "fillAll" since "fill" will be used by child classes)

Definition at line 70 of file MatrixVectorBase.h.

Referenced by mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::assign(), mrpt::poses::CPose3DQuat::assign(), mrpt::maps::CRandomFieldGridMap2D::exist_relation_between2cells(), mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), fillSampleObs(), mrpt::ros1bridge::fromROS(), mrpt::vision::projectMatchedFeatures(), mrpt::obs::CObservation3DRangeScan::recoverCameraCalibrationParameters(), mrpt::obs::CObservationImage::serializeFrom(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::setConstant(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::setZero(), TEST(), TestLevMarq(), and PosePDFGaussTests::testPoseInverse().

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fromMatlabStringFormat()

template<typename Scalar , class Derived >

bool mrpt::math::MatrixVectorBase< Scalar, Derived >::fromMatlabStringFormat	(	const std::string &	s,
		mrpt::optional_ref< std::ostream >	dump_errors_here = std::nullopt
	)

Reads a matrix from a string in Matlab-like format, for example: "[1 0 2; 0 4 -1]" The string must start with '[' and end with ']'.

Rows are separated by semicolons ';' and columns in each row by one or more whitespaces ' ' or tabs ''. Commas ',' between elements are NOT allowed.

This format is also used for CConfigFile::read_matrix.

Returns

true on success. false if the string is malformed, and then the matrix will be resized to 0x0.

See also

inMatlabFormat, CConfigFile::read_matrix

Definition at line 24 of file MatrixVectorBase_impl.h.

Referenced by mrpt::poses::CPoint< CPoint3D, 3 >::fromString(), mrpt::math::TTwist2D::fromString(), mrpt::math::TPose3DQuat::fromString(), mrpt::math::TPose2D::fromString(), mrpt::math::TTwist3D::fromString(), mrpt::math::TPose3D::fromString(), mrpt::poses::CPose3DQuat::fromString(), mrpt::poses::CPose2D::fromString(), mrpt::poses::CPose3D::fromString(), mrpt::nav::PlannerTPS_VirtualBase::internal_loadConfig_PTG(), quat_vs_YPR(), and TEST().

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head()

template<typename Scalar, class Derived>

template<int N>

CMatrixFixed<Scalar, N, 1> mrpt::math::MatrixVectorBase< Scalar, Derived >::head ( ) const

inline

Definition at line 232 of file MatrixVectorBase.h.

impl_op_add()

template<typename Scalar , class Derived >

Derived mrpt::math::MatrixVectorBase< Scalar, Derived >::impl_op_add ( const Derived &  m2 ) const

private

Definition at line 446 of file MatrixVectorBase_impl.h.

Referenced by mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::operator+().

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impl_op_selfadd()

template<typename Scalar , class Derived >

void mrpt::math::MatrixVectorBase< Scalar, Derived >::impl_op_selfadd ( const Derived &  m2 )

private

Definition at line 453 of file MatrixVectorBase_impl.h.

Referenced by mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::operator+=().

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impl_op_selfsubs()

template<typename Scalar , class Derived >

void mrpt::math::MatrixVectorBase< Scalar, Derived >::impl_op_selfsubs ( const Derived &  m2 )

private

Definition at line 465 of file MatrixVectorBase_impl.h.

Referenced by mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::operator-=().

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impl_op_subs()

template<typename Scalar , class Derived >

Derived mrpt::math::MatrixVectorBase< Scalar, Derived >::impl_op_subs ( const Derived &  m2 ) const

private

Definition at line 458 of file MatrixVectorBase_impl.h.

Referenced by mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::operator-().

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inMatlabFormat()

template<typename Scalar , class Derived >

std::string mrpt::math::MatrixVectorBase< Scalar, Derived >::inMatlabFormat

(

const std::size_t

decimal_digits = 6

)

const

Exports the matrix as a string compatible with Matlab/Octave.

See also

fromMatlabStringFormat()

Definition at line 141 of file MatrixVectorBase_impl.h.

Referenced by mrpt::obs::gnss::Message_TOPCON_PZS::dumpToStream(), mrpt::obs::CObservation6DFeatures::getDescriptionAsText(), mrpt::obs::CObservationStereoImagesFeatures::getDescriptionAsText(), and mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA().

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isSquare()

template<typename Scalar, class Derived>

bool mrpt::math::MatrixVectorBase< Scalar, Derived >::isSquare ( ) const

inline

returns true if matrix is NxN

Definition at line 257 of file MatrixVectorBase.h.

Referenced by mrpt::slam::data_association_full_covariance(), mrpt::math::mahalanobisDistance2(), mrpt::math::mahalanobisDistance2AndLogPDF(), mrpt::math::normalPDF(), and op_dense_multiply_AB().

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loadFromTextFile() [1/2]

template<typename Scalar , class Derived >

void mrpt::math::MatrixVectorBase< Scalar, Derived >::loadFromTextFile

(

std::istream &

f

)

Loads a vector/matrix from a text file, compatible with MATLAB text format.

Lines starting with '' or '#' are interpreted as comments and ignored.

Exceptions

std::runtime_error

On format error.

See also

saveToTextFile, fromMatlabStringFormat

Definition at line 238 of file MatrixVectorBase_impl.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::obs::CObservation3DRangeScan::load(), mrpt::poses::CPoseInterpolatorBase< 3 >::loadFromTextFile(), mrpt::apps::KFSLAMApp::Run_KF_SLAM(), and TEST().

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loadFromTextFile() [2/2]

template<typename Scalar , class Derived >

void mrpt::math::MatrixVectorBase< Scalar, Derived >::loadFromTextFile

(

const std::string &

file

)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 326 of file MatrixVectorBase_impl.h.

matProductOf_Ab()

template<typename Scalar , class Derived >

void mrpt::math::MatrixVectorBase< Scalar, Derived >::matProductOf_Ab	(	const CMatrixDynamic< Scalar > &	A,
		const CVectorDynamic< Scalar > &	b
	)

this = A * b , with A and b a dynamic matrix & vector

Definition at line 485 of file MatrixVectorBase_impl.h.

matProductOf_Atb()

template<typename Scalar , class Derived >

void mrpt::math::MatrixVectorBase< Scalar, Derived >::matProductOf_Atb	(	const CMatrixDynamic< Scalar > &	A,
		const CVectorDynamic< Scalar > &	b
	)

this = A^T * b , with A and b a dynamic matrix & vector

Definition at line 492 of file MatrixVectorBase_impl.h.

maxCoeff() [1/3]

template<typename Scalar , class Derived >

Scalar mrpt::math::MatrixVectorBase< Scalar, Derived >::maxCoeff

(

)

const

Maximum value in the matrix/vector.

Definition at line 363 of file MatrixVectorBase_impl.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), do_matrix_op_test(), and mrpt::obs::CObservation3DRangeScan::rangeImageAsImage().

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maxCoeff() [2/3]

template<typename Scalar , class Derived >

Scalar mrpt::math::MatrixVectorBase< Scalar, Derived >::maxCoeff

(

std::size_t &

outIndexOfMax

)

const

Definition at line 384 of file MatrixVectorBase_impl.h.

maxCoeff() [3/3]

template<typename Scalar , class Derived >

Scalar mrpt::math::MatrixVectorBase< Scalar, Derived >::maxCoeff	(	std::size_t &	rowIdx,
		std::size_t &	colIdx
	)		const

Definition at line 409 of file MatrixVectorBase_impl.h.

minCoeff() [1/3]

template<typename Scalar , class Derived >

Scalar mrpt::math::MatrixVectorBase< Scalar, Derived >::minCoeff

(

)

const

Minimum value in the matrix/vector.

Definition at line 357 of file MatrixVectorBase_impl.h.

Referenced by mrpt::vision::CFeature::internal_distanceBetweenPolarImages().

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minCoeff() [2/3]

template<typename Scalar , class Derived >

Scalar mrpt::math::MatrixVectorBase< Scalar, Derived >::minCoeff

(

std::size_t &

outIndexOfMin

)

const

Definition at line 369 of file MatrixVectorBase_impl.h.

minCoeff() [3/3]

template<typename Scalar , class Derived >

Scalar mrpt::math::MatrixVectorBase< Scalar, Derived >::minCoeff	(	std::size_t &	rowIdx,
		std::size_t &	colIdx
	)		const

Definition at line 398 of file MatrixVectorBase_impl.h.

mvbDerived() [1/2]

template<typename Scalar, class Derived>

Derived& mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived ( )

inline

Definition at line 59 of file MatrixVectorBase.h.

Referenced by mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::array(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::assign(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::block(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::coeff(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::coeffRef(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::dot(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::empty(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::head(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::isSquare(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::operator*(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::operator+(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::operator+=(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::operator-(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::operator-=(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::operator==(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::setConstant(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::tail(), and mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::transpose().

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mvbDerived() [2/2]

template<typename Scalar, class Derived>

const Derived& mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived ( ) const

inline

Definition at line 60 of file MatrixVectorBase.h.

norm()

template<typename Scalar , class Derived >

Scalar mrpt::math::MatrixVectorBase< Scalar, Derived >::norm

(

)

const

Compute the L2 norm of a vector/array/matrix (the Euclidean distance to the origin, taking all the elements as a single vector).

See also

norm

Definition at line 505 of file MatrixVectorBase_impl.h.

norm_inf()

template<typename Scalar , class Derived >

Scalar mrpt::math::MatrixVectorBase< Scalar, Derived >::norm_inf

(

)

const

Compute the norm-infinite of a vector ($f[ ||{v}||_ $f]), ie the maximum absolute value of the elements.

Definition at line 499 of file MatrixVectorBase_impl.h.

operator!=()

template<typename Scalar, class Derived>

template<typename OTHERMATVEC >

bool mrpt::math::MatrixVectorBase< Scalar, Derived >::operator!= ( const OTHERMATVEC &  o ) const

inline

Definition at line 432 of file MatrixVectorBase.h.

operator*() [1/4]

template<typename Scalar, class Derived>

template<typename S2 , class D2 >

auto mrpt::math::MatrixVectorBase< Scalar, Derived >::operator* ( const MatrixVectorBase< S2, D2 > &  m2 ) const

inline

Definition at line 214 of file MatrixVectorBase.h.

operator*() [2/4]

template<typename Scalar, class Derived>

auto mrpt::math::MatrixVectorBase< Scalar, Derived >::operator* ( const Scalar  s ) const

inline

Definition at line 219 of file MatrixVectorBase.h.

operator*() [3/4]

template<typename Scalar , class Derived >

CMatrixDynamic< Scalar > mrpt::math::MatrixVectorBase< Scalar, Derived >::operator*

(

const CMatrixDynamic< Scalar > &

v

)

Definition at line 438 of file MatrixVectorBase_impl.h.

operator*() [4/4]

template<typename Scalar , class Derived >

Derived mrpt::math::MatrixVectorBase< Scalar, Derived >::operator*

(

const Derived &

m2

)

const

Definition at line 470 of file MatrixVectorBase_impl.h.

operator*=()

template<typename Scalar , class Derived >

void mrpt::math::MatrixVectorBase< Scalar, Derived >::operator*=

(

Scalar

s

)

Definition at line 432 of file MatrixVectorBase_impl.h.

operator+() [1/2]

template<typename Scalar, class Derived>

template<typename S2 , class D2 >

auto mrpt::math::MatrixVectorBase< Scalar, Derived >::operator+ ( const MatrixVectorBase< S2, D2 > &  m2 ) const

inline

Definition at line 188 of file MatrixVectorBase.h.

operator+() [2/2]

template<typename Scalar, class Derived>

Derived mrpt::math::MatrixVectorBase< Scalar, Derived >::operator+ ( const Derived &  m2 ) const

inline

Definition at line 279 of file MatrixVectorBase.h.

operator+=() [1/3]

template<typename Scalar, class Derived>

template<typename S2 , class D2 >

void mrpt::math::MatrixVectorBase< Scalar, Derived >::operator+= ( const MatrixVectorBase< S2, D2 > &  m2 )

inline

Definition at line 194 of file MatrixVectorBase.h.

operator+=() [2/3]

template<typename Scalar , class Derived >

void mrpt::math::MatrixVectorBase< Scalar, Derived >::operator+=

(

Scalar

s

)

Definition at line 420 of file MatrixVectorBase_impl.h.

operator+=() [3/3]

template<typename Scalar, class Derived>

void mrpt::math::MatrixVectorBase< Scalar, Derived >::operator+= ( const Derived &  m2 )

inline

Definition at line 294 of file MatrixVectorBase.h.

operator-() [1/3]

template<typename Scalar, class Derived>

auto mrpt::math::MatrixVectorBase< Scalar, Derived >::operator- ( ) const

inline

Definition at line 181 of file MatrixVectorBase.h.

operator-() [2/3]

template<typename Scalar, class Derived>

template<typename S2 , class D2 >

auto mrpt::math::MatrixVectorBase< Scalar, Derived >::operator- ( const MatrixVectorBase< S2, D2 > &  m2 ) const

inline

Definition at line 201 of file MatrixVectorBase.h.

operator-() [3/3]

template<typename Scalar, class Derived>

Derived mrpt::math::MatrixVectorBase< Scalar, Derived >::operator- ( const Derived &  m2 ) const

inline

Definition at line 309 of file MatrixVectorBase.h.

operator-=() [1/3]

template<typename Scalar, class Derived>

template<typename S2 , class D2 >

void mrpt::math::MatrixVectorBase< Scalar, Derived >::operator-= ( const MatrixVectorBase< S2, D2 > &  m2 )

inline

Definition at line 207 of file MatrixVectorBase.h.

operator-=() [2/3]

template<typename Scalar , class Derived >

void mrpt::math::MatrixVectorBase< Scalar, Derived >::operator-=

(

Scalar

s

)

Definition at line 426 of file MatrixVectorBase_impl.h.

operator-=() [3/3]

template<typename Scalar, class Derived>

void mrpt::math::MatrixVectorBase< Scalar, Derived >::operator-= ( const Derived &  m2 )

inline

Definition at line 324 of file MatrixVectorBase.h.

operator==()

template<typename Scalar, class Derived>

template<typename OTHERMATVEC >

bool mrpt::math::MatrixVectorBase< Scalar, Derived >::operator== ( const OTHERMATVEC &  o ) const

inline

Definition at line 422 of file MatrixVectorBase.h.

saveToTextFile()

template<typename Scalar , class Derived >

void mrpt::math::MatrixVectorBase< Scalar, Derived >::saveToTextFile	(	const std::string &	file,
		mrpt::math::TMatrixTextFileFormat	fileFormat = mrpt::math::MATRIX_FORMAT_ENG,
		bool	appendMRPTHeader = false,
		const std::string &	userHeader = std::string()
	)		const

Saves the vector/matrix to a file compatible with MATLAB/Octave text format.

Parameters

file	The target filename.
fileFormat	See TMatrixTextFileFormat. The format of the numbers in the text file.
appendMRPTHeader	Insert this header to the file "% File generated by MRPT. Load with MATLAB with: VAR=load(FILENAME);"
userHeader	Additional text to be written at the head of the file. Typically MALAB comments "% This file blah blah". Final end-of-line is not needed.

See also

loadFromTextFile, CMatrixDynamic::inMatlabFormat, SAVE_MATRIX

Definition at line 159 of file MatrixVectorBase_impl.h.

Referenced by mrpt::vision::build_linear_system(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), kfslam_traits< CRangeBearingKFSLAM >::doPartitioningExperiment(), mrpt::poses::CPose3DPDFGaussianInf::drawSingleSample(), mrpt::poses::CPosePDFGaussian::drawSingleSample(), mrpt::poses::CPose3DPDFGaussian::drawSingleSample(), mrpt::poses::CPosePDFGaussianInf::drawSingleSample(), mrpt::obs::CObservation3DRangeScan::points3D_convertToExternalStorage(), mrpt::obs::CObservation3DRangeScan::rangeImage_convertToExternalStorage(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::KFSLAMApp::Run_KF_SLAM(), mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile(), mrpt::maps::COccupancyGridMap2D::saveMetricMapRepresentationToFile(), mrpt::math::CSparseMatrix::saveToTextFile_dense(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::saveToTextFileAsDense(), and TestLevMarq().

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setConstant() [1/3]

template<typename Scalar, class Derived>

void mrpt::math::MatrixVectorBase< Scalar, Derived >::setConstant ( const Scalar  value )

inline

Definition at line 75 of file MatrixVectorBase.h.

Referenced by mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::setConstant(), and mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::setZero().

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setConstant() [2/3]

template<typename Scalar, class Derived>

void mrpt::math::MatrixVectorBase< Scalar, Derived >::setConstant ( size_t  nrows, size_t  ncols, const Scalar  value  )

inline

Definition at line 76 of file MatrixVectorBase.h.

setConstant() [3/3]

template<typename Scalar, class Derived>

void mrpt::math::MatrixVectorBase< Scalar, Derived >::setConstant ( size_t  nrows, const Scalar  value  )

inline

Definition at line 81 of file MatrixVectorBase.h.

setZero() [1/3]

template<typename Scalar, class Derived>

void mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero ( )

inline

Definition at line 112 of file MatrixVectorBase.h.

Referenced by mrpt::vision::build_linear_system(), mrpt::opengl::TRenderMatrices::computeProjectionMatrix(), mrpt::poses::CPose3DPDFGaussianInf::copyFrom(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPointPDFGaussian::CPointPDFGaussian(), mrpt::poses::CPosePDFGaussian::CPosePDFGaussian(), mrpt::math::CSparseMatrix::cs2dense(), mrpt::poses::CPoseRandomSampler::do_sample_2D(), mrpt::poses::CPoseRandomSampler::do_sample_3D(), fillSampleObs(), mrpt::math::generateAxisBaseFromDirectionAndAxis(), mrpt::poses::CPointPDFParticles::getCovarianceAndMean(), mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean(), mrpt::poses::CPosePDFParticles::getCovarianceAndMean(), mrpt::poses::CPointPDFSOG::getCovarianceAndMean(), mrpt::poses::CPosePDFSOG::getCovarianceAndMean(), mrpt::vision::CFeatureExtraction::internal_computeSpinImageDescriptors(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hwdrivers::TCaptureOptions_DUO3D::m_camera_int_params_from_yml(), mrpt::graphslam::optimize_graph_spa_levmarq(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::renderUpdateBuffers(), mrpt::slam::CRangeBearingKFSLAM2D::reset(), mrpt::slam::CRangeBearingKFSLAM::reset(), mrpt::apps::RBPF_SLAM_App_Base::run(), mrpt::maps::CLandmarksMap::saveToMATLABScript2D(), mrpt::img::TCamera::setIntrinsicParamsFromValues(), and mrpt::graphs::ScalarFactorGraph::updateEstimation().

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setZero() [2/3]

template<typename Scalar, class Derived>

void mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero ( size_t  nrows, size_t  ncols  )

inline

Definition at line 113 of file MatrixVectorBase.h.

setZero() [3/3]

template<typename Scalar, class Derived>

void mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero ( size_t  nrows )

inline

Definition at line 117 of file MatrixVectorBase.h.

sum()

template<typename Scalar , class Derived >

Scalar mrpt::math::MatrixVectorBase< Scalar, Derived >::sum

(

)

const

Sum of all elements in matrix/vector.

Definition at line 345 of file MatrixVectorBase_impl.h.

Referenced by mrpt::vision::CFeature::internal_distanceBetweenPolarImages(), and TEST().

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sum_abs()

template<typename Scalar , class Derived >

Scalar mrpt::math::MatrixVectorBase< Scalar, Derived >::sum_abs

(

)

const

Sum of the absolute value of all elements in matrix/vector.

Definition at line 351 of file MatrixVectorBase_impl.h.

tail()

template<typename Scalar, class Derived>

template<int N>

CMatrixFixed<Scalar, N, 1> mrpt::math::MatrixVectorBase< Scalar, Derived >::tail ( ) const

inline

Definition at line 226 of file MatrixVectorBase.h.

transpose() [1/2]

template<typename Scalar, class Derived>

auto mrpt::math::MatrixVectorBase< Scalar, Derived >::transpose ( )

inline

Definition at line 159 of file MatrixVectorBase.h.

Referenced by mrpt::poses::CPointPDFGaussian::changeCoordinatesReference(), mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::poses::CPosePDFGaussian::inverse(), mrpt::poses::CPosePDFGaussianInf::inverse(), mrpt::vision::projectMatchedFeatures(), mrpt::maps::CLandmarksMap::saveToMATLABScript2D(), and TEST().

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transpose() [2/2]

template<typename Scalar, class Derived>

auto mrpt::math::MatrixVectorBase< Scalar, Derived >::transpose ( ) const

inline

Definition at line 164 of file MatrixVectorBase.h.

Zero() [1/2]

template<typename Scalar, class Derived>

static Derived mrpt::math::MatrixVectorBase< Scalar, Derived >::Zero ( )

inlinestatic

Definition at line 125 of file MatrixVectorBase.h.

Referenced by mrpt::vision::build_linear_system(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setCovMatrix(), and mrpt::obs::TPixelLabelInfo< BYTES_REQUIRED_ >::setSize().

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Zero() [2/2]

template<typename Scalar, class Derived>

static Derived mrpt::math::MatrixVectorBase< Scalar, Derived >::Zero ( size_t  nrows, size_t  ncols  )

inlinestatic

Definition at line 126 of file MatrixVectorBase.h.