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

Detailed Description

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

Base CRTP class for all MRPT matrices.

See MatrixVectorBase

See also

CMatrixFixed

Definition at line 23 of file MatrixBase.h.

#include <mrpt/math/MatrixBase.h>

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

Public Member Functions
Derived &	mbDerived ()
const Derived &	mbDerived () const
void	setDiagonal (const std::size_t N, const Scalar value)
	Resize to NxN, set all entries to zero, except the main diagonal which is set to value More...
void	setDiagonal (const Scalar value)
	Set all entries to zero, except the main diagonal which is set to value More...
void	setDiagonal (const std::vector< Scalar > &diags)
	Resizes to NxN, with N the length of the input vector, set all entries to zero, except the main diagonal which is set to values in the vector. More...
void	setIdentity ()
void	setIdentity (const std::size_t N)
void	matProductOf_AB (const Derived &A, const Derived &B)
	this = A*B, with A & B of the same type of this. More...
Derived &	mvbDerived ()
const Derived &	mvbDerived () const
Operations that DO require `#include <Eigen/Dense>` in user code
auto	col (int colIdx)
auto	col (int colIdx) const
auto	row (int rowIdx)
auto	row (int rowIdx) const
template<typename VECTOR_LIKE >
void	extractRow (int rowIdx, VECTOR_LIKE &v) const
template<typename VECTOR_LIKE >
VECTOR_LIKE	extractRow (int rowIdx) const
template<typename VECTOR_LIKE >
void	extractColumn (int colIdx, VECTOR_LIKE &v) const
template<typename VECTOR_LIKE >
VECTOR_LIKE	extractColumn (int colIdx) const
Standalone operations (do NOT require `#include <Eigen/Dense>`)
Scalar	det () const
	Determinant of matrix. More...
Derived	inverse () const
	Returns the inverse of a general matrix using LU. More...
Derived	inverse_LLt () const
	Returns the inverse of a symmetric matrix using LLt. More...
int	rank (Scalar threshold=0) const
	Finds the rank of the matrix via LU decomposition. More...
bool	chol (Derived &U) const
	Cholesky M=UT * U decomposition for symmetric matrix (upper-half of the matrix is actually ignored. More...
bool	eig (Derived &eVecs, std::vector< Scalar > &eVals, bool sorted=true) const
	Computes the eigenvectors and eigenvalues for a square, general matrix. More...
bool	eig_symmetric (Derived &eVecs, std::vector< Scalar > &eVals, bool sorted=true) const
	Read: eig() More...
Scalar	maximumDiagonal () const
	Returns the maximum value in the diagonal. More...
Scalar	minimumDiagonal () const
	Returns the minimum value in the diagonal. More...
Scalar	trace () const
	Returns the trace of the matrix (not necessarily square). More...
void	unsafeRemoveColumns (const std::vector< std::size_t > &idxs)
	Removes columns of the matrix. More...
void	removeColumns (const std::vector< std::size_t > &idxsToRemove)
	Removes columns of the matrix. More...
void	unsafeRemoveRows (const std::vector< std::size_t > &idxs)
	Removes rows of the matrix. More...
void	removeRows (const std::vector< std::size_t > &idxsToRemove)
	Removes rows of the matrix. More...
template<typename OTHERMATVEC >
void	insertMatrix (const int row_start, const int col_start, const OTHERMATVEC &submat)
	Copies the given input submatrix/vector into this matrix/vector, starting at the given top-left coordinates. More...
template<typename OTHERMATVEC >
void	insertMatrixTransposed (const int row_start, const int col_start, const OTHERMATVEC &submat)
	Like insertMatrix(), but inserts ‘submat’` (transposed) More...
template<int BLOCK_ROWS, int BLOCK_COLS>
CMatrixFixed< Scalar, BLOCK_ROWS, BLOCK_COLS >	blockCopy (int start_row=0, int start_col=0) const
	const blockCopy(): Returns a copy of the given block More...
CMatrixDynamic< Scalar >	blockCopy (int start_row, int start_col, int BLOCK_ROWS, int BLOCK_COLS) const
	const blockCopy(): Returns a copy of the given block (non templated version, dynamic sizes) More...
template<int BLOCK_ROWS, int BLOCK_COLS>
CMatrixFixed< Scalar, BLOCK_ROWS, BLOCK_COLS >	extractMatrix (const int start_row=0, const int start_col=0) const
CMatrixDynamic< Scalar >	extractMatrix (const int BLOCK_ROWS, const int BLOCK_COLS, const int start_row, const int start_col) const
template<typename MAT_A >
void	matProductOf_AAt (const MAT_A &A)
	this = A * AT More...
template<typename MAT_A >
void	matProductOf_AtA (const MAT_A &A)
	this = AT * A More...
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 >
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 >
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
Standalone operations (do NOT require `#include <Eigen/Dense>`)
Derived	operator- (const Derived &m2) const
Derived	operator+ (const Derived &m2) const
void	operator+= (Scalar s)
void	operator+= (const Derived &m2)
void	operator-= (Scalar s)
void	operator-= (const Derived &m2)
CMatrixDynamic< Scalar >	operator* (const CMatrixDynamic< Scalar > &v)
Derived	operator* (const Derived &m2) const
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)
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

Static Public Member Functions
static Derived	Identity ()
static Derived	Identity (const std::size_t N)

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)

Member Function Documentation

array() [1/2]

template<typename Scalar, class Derived>

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

inlineinherited

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

inlineinherited

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  )

inlineinherited

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

inherited

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  )

inlineinherited

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  )

inlineinherited

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

inlineinherited

Definition at line 151 of file MatrixVectorBase.h.

blockCopy() [1/2]

template<typename Scalar, class Derived>

template<int BLOCK_ROWS, int BLOCK_COLS>

CMatrixFixed<Scalar, BLOCK_ROWS, BLOCK_COLS> mrpt::math::MatrixBase< Scalar, Derived >::blockCopy ( int  start_row = 0, int  start_col = 0  ) const

inline

const blockCopy(): Returns a copy of the given block

Definition at line 233 of file MatrixBase.h.

Referenced by mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::math::TPose3D::fromHomogeneousMatrix(), mrpt::slam::CRangeBearingKFSLAM2D::getAs3DObject(), mrpt::slam::CRangeBearingKFSLAM::getAs3DObject(), mrpt::slam::CRangeBearingKFSLAM2D::getCurrentRobotPose(), mrpt::slam::CRangeBearingKFSLAM::getCurrentRobotPose(), mrpt::slam::CRangeBearingKFSLAM2D::getCurrentState(), mrpt::slam::CRangeBearingKFSLAM::getCurrentState(), mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::getLandmarkCov(), mrpt::opengl::CArrow::onUpdateBuffers_Triangles(), mrpt::poses::CPointPDFGaussian::productIntegralWith2D(), and mrpt::apps::RBPF_SLAM_App_Base::run().

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blockCopy() [2/2]

template<typename Scalar, class Derived>

CMatrixDynamic<Scalar> mrpt::math::MatrixBase< Scalar, Derived >::blockCopy ( int  start_row, int  start_col, int  BLOCK_ROWS, int  BLOCK_COLS  ) const

inline

const blockCopy(): Returns a copy of the given block (non templated version, dynamic sizes)

Definition at line 240 of file MatrixBase.h.

chol()

template<typename Scalar , class Derived>

bool mrpt::math::MatrixBase< Scalar, Derived >::chol

(

Derived &

U

)

const

Cholesky M=U^T * U decomposition for symmetric matrix (upper-half of the matrix is actually ignored.

Returns

false if Cholesky fails

Definition at line 165 of file MatrixBase_impl.h.

Referenced by mrpt::vision::projectMatchedFeatures(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::renderUpdateBuffers(), and TEST().

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coeff()

template<typename Scalar, class Derived>

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

inlineinherited

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  )

inlineinherited

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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col() [1/2]

template<typename Scalar, class Derived>

auto mrpt::math::MatrixBase< Scalar, Derived >::col ( int  colIdx )

inline

Definition at line 89 of file MatrixBase.h.

Referenced by mrpt::math::generateAxisBaseFromDirection(), mrpt::vision::projectMatchedFeatures(), and se3_l2_internal().

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col() [2/2]

template<typename Scalar, class Derived>

auto mrpt::math::MatrixBase< Scalar, Derived >::col ( int  colIdx ) const

inline

Definition at line 94 of file MatrixBase.h.

Constant() [1/2]

template<typename Scalar, class Derived>

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

inlinestaticinherited

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  )

inlinestaticinherited

Definition at line 99 of file MatrixVectorBase.h.

det()

template<typename Scalar , class Derived >

Scalar mrpt::math::MatrixBase< Scalar, Derived >::det

(

)

const

Determinant of matrix.

Definition at line 76 of file MatrixBase_impl.h.

Referenced by mrpt::poses::CPointPDFSOG::bayesianFusion(), mrpt::poses::CPosePDFSOG::bayesianFusion(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::graphslam::TUncertaintyPath< GRAPH_T >::getAsString(), mrpt::obs::CActionRobotMovement2D::getDescriptionAsText(), mrpt::graphslam::TUncertaintyPath< GRAPH_T >::getDeterminant(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::math::mahalanobisDistance2AndLogPDF(), mrpt::poses::CPosePDFSOG::mergeModes(), mrpt::math::normalPDF(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::renderUpdateBuffers(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateCurrCovarianceVisualization().

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dot() [1/2]

template<typename Scalar , class Derived >

Scalar mrpt::math::MatrixVectorBase< Scalar, Derived >::dot ( const CVectorDynamic< Scalar > &  v ) const

inherited

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

inherited

Definition at line 524 of file MatrixVectorBase_impl.h.

eig()

template<typename Scalar, class Derived>

bool mrpt::math::MatrixBase< Scalar, Derived >::eig	(	Derived &	eVecs,
		std::vector< Scalar > &	eVals,
		bool	sorted = true
	)		const

Computes the eigenvectors and eigenvalues for a square, general matrix.

Use eig_symmetric() for symmetric matrices for better accuracy and performance. Eigenvectors are the columns of the returned matrix, and their order matches that of returned eigenvalues.

Parameters

[in]	sorted	If true, eigenvalues (and eigenvectors) will be sorted in ascending order.
[out]	eVecs	The container where eigenvectors will be stored.
[out]	eVals	The container where eigenvalues will be stored.

Returns

false if eigenvalues could not be determined.

Definition at line 107 of file MatrixBase_impl.h.

Referenced by mrpt::detectors::CFaceDetection::checkIfFacePlaneCov(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::computeDominantEigenVector(), mrpt::math::MATLAB_plotCovariance2D(), and TEST().

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eig_symmetric()

template<typename Scalar, class Derived>

bool mrpt::math::MatrixBase< Scalar, Derived >::eig_symmetric	(	Derived &	eVecs,
		std::vector< Scalar > &	eVals,
		bool	sorted = true
	)		const

Read: eig()

Note

This only uses the lower-triangular part of the matrix

Definition at line 131 of file MatrixBase_impl.h.

Referenced by mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::math::getRegressionLine(), mrpt::math::getRegressionPlane(), mrpt::obs::CActionRobotMovement2D::prepareFastDrawSingleSample_modelGaussian(), mrpt::maps::CLandmarksMap::saveToMATLABScript2D(), se3_l2_internal(), mrpt::poses::CPoseRandomSampler::setPosePDF(), and TEST().

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empty()

template<typename Scalar, class Derived>

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

inlineinherited

returns true if matrix/vector has size=0

Definition at line 260 of file MatrixVectorBase.h.

extractColumn() [1/2]

template<typename Scalar, class Derived>

template<typename VECTOR_LIKE >

void mrpt::math::MatrixBase< Scalar, Derived >::extractColumn ( int  colIdx, VECTOR_LIKE &  v  ) const

inline

Definition at line 128 of file MatrixBase.h.

Referenced by mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::extractColumn().

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extractColumn() [2/2]

template<typename Scalar, class Derived>

template<typename VECTOR_LIKE >

VECTOR_LIKE mrpt::math::MatrixBase< Scalar, Derived >::extractColumn ( int  colIdx ) const

inline

Definition at line 136 of file MatrixBase.h.

extractMatrix() [1/2]

template<typename Scalar, class Derived>

template<int BLOCK_ROWS, int BLOCK_COLS>

CMatrixFixed<Scalar, BLOCK_ROWS, BLOCK_COLS> mrpt::math::MatrixBase< Scalar, Derived >::extractMatrix ( const int  start_row = 0, const int  start_col = 0  ) const

inline

Definition at line 247 of file MatrixBase.h.

Referenced by mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::blockCopy(), mrpt::slam::data_association_independent_predictions(), and mrpt::apps::CGridMapAlignerApp::run().

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extractMatrix() [2/2]

template<typename Scalar, class Derived>

CMatrixDynamic<Scalar> mrpt::math::MatrixBase< Scalar, Derived >::extractMatrix ( const int  BLOCK_ROWS, const int  BLOCK_COLS, const int  start_row, const int  start_col  ) const

inline

Definition at line 260 of file MatrixBase.h.

extractRow() [1/2]

template<typename Scalar, class Derived>

template<typename VECTOR_LIKE >

void mrpt::math::MatrixBase< Scalar, Derived >::extractRow ( int  rowIdx, VECTOR_LIKE &  v  ) const

inline

Definition at line 112 of file MatrixBase.h.

Referenced by mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::extractRow().

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extractRow() [2/2]

template<typename Scalar, class Derived>

template<typename VECTOR_LIKE >

VECTOR_LIKE mrpt::math::MatrixBase< Scalar, Derived >::extractRow ( int  rowIdx ) const

inline

Definition at line 120 of file MatrixBase.h.

fill()

template<typename Scalar, class Derived>

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

inlineinherited

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  )

inherited

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

inlineinherited

Definition at line 232 of file MatrixVectorBase.h.

Identity() [1/2]

template<typename Scalar, class Derived>

static Derived mrpt::math::MatrixBase< Scalar, Derived >::Identity ( )

inlinestatic

Definition at line 64 of file MatrixBase.h.

Referenced by mrpt::opengl::CSphere::regenerateBaseParams(), and mrpt::opengl::CText::render().

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Identity() [2/2]

template<typename Scalar, class Derived>

static Derived mrpt::math::MatrixBase< Scalar, Derived >::Identity ( const std::size_t  N )

inlinestatic

Definition at line 74 of file MatrixBase.h.

inMatlabFormat()

template<typename Scalar , class Derived >

std::string mrpt::math::MatrixVectorBase< Scalar, Derived >::inMatlabFormat ( const std::size_t  decimal_digits = 6 ) const

inherited

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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insertMatrix()

template<typename Scalar, class Derived>

template<typename OTHERMATVEC >

void mrpt::math::MatrixBase< Scalar, Derived >::insertMatrix ( const int  row_start, const int  col_start, const OTHERMATVEC &  submat  )

inline

Copies the given input submatrix/vector into this matrix/vector, starting at the given top-left coordinates.

Definition at line 210 of file MatrixBase.h.

Referenced by mrpt::bayes::detail::addNewLandmarks(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::slam::data_association_independent_predictions(), Pose3DQuatPDFGaussTests::testInverse(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DQuatPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverseComposition(), Pose3DQuatPDFGaussTests::testPoseInverseComposition(), and mrpt::obs::detail::unprojectInto().

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insertMatrixTransposed()

template<typename Scalar, class Derived>

template<typename OTHERMATVEC >

void mrpt::math::MatrixBase< Scalar, Derived >::insertMatrixTransposed ( const int  row_start, const int  col_start, const OTHERMATVEC &  submat  )

inline

Like insertMatrix(), but inserts ‘submat’` (transposed)

Definition at line 221 of file MatrixBase.h.

inverse()

template<typename Scalar , class Derived >

Derived mrpt::math::MatrixBase< Scalar, Derived >::inverse

(

)

const

Returns the inverse of a general matrix using LU.

Definition at line 183 of file MatrixBase_impl.h.

Referenced by mrpt::poses::CPosePDFGaussianInf::evaluatePDF(), mrpt::math::mahalanobisDistance2(), and mrpt::math::normalPDF().

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inverse_LLt()

template<typename Scalar , class Derived >

Derived mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt

(

)

const

Returns the inverse of a symmetric matrix using LLt.

Definition at line 195 of file MatrixBase_impl.h.

Referenced by mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist(), mrpt::poses::CPointPDFGaussian::bayesianFusion(), mrpt::poses::CPosePDFGaussian::bayesianFusion(), mrpt::poses::CPosePDFGaussianInf::bayesianFusion(), mrpt::poses::CPointPDFSOG::bayesianFusion(), mrpt::poses::CPosePDFSOG::bayesianFusion(), mrpt::poses::CPose3DQuatPDFGaussianInf::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::poses::CPose3DQuatPDFGaussianInf::copyFrom(), mrpt::poses::CPosePDFGaussianInf::copyFrom(), mrpt::poses::CPose3DPDFGaussianInf::copyFrom(), kfslam_traits< CRangeBearingKFSLAM >::doPartitioningExperiment(), mrpt::poses::CPose3DQuatPDFGaussianInf::drawManySamples(), mrpt::poses::CPose3DPDFGaussianInf::drawManySamples(), mrpt::poses::CPosePDFGaussianInf::drawManySamples(), mrpt::poses::CPose3DQuatPDFGaussianInf::drawSingleSample(), mrpt::poses::CPose3DPDFGaussianInf::drawSingleSample(), mrpt::poses::CPosePDFGaussianInf::drawSingleSample(), mrpt::poses::CPosePDFGaussianInf::evaluateNormalizedPDF(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::poses::CPose3DQuatPDFGaussianInf::getCovarianceAndMean(), mrpt::poses::CPosePDFGaussianInf::getCovarianceAndMean(), mrpt::poses::CPose3DPDFGaussianInf::getCovarianceAndMean(), mrpt::math::CProbabilityDensityFunction< CPose2D, 3 >::getInformationMatrix(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::poses::CPose3DQuatPDFGaussianInf::inverse(), mrpt::poses::CPosePDFGaussianInf::inverseComposition(), mrpt::math::mahalanobisDistance2AndLogPDF(), mrpt::poses::CPointPDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPosePDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPosePDFGaussianInf::mahalanobisDistanceTo(), mrpt::poses::CPose3DPDFGaussianInf::mahalanobisDistanceTo(), mrpt::poses::CPose3DPDFGaussian::mahalanobisDistanceTo(), mrpt::math::normalPDF(), mrpt::poses::CPose3DQuatPDFGaussianInf::operator+=(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), mrpt::poses::CPosePDFGaussianInf::operator+=(), mrpt::poses::CPose3DPDFGaussianInf::operator-=(), mrpt::topography::path_from_rtk_gps(), mrpt::poses::CPointPDFGaussian::productIntegralWith(), mrpt::poses::CPointPDFGaussian::productIntegralWith2D(), and mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().

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isSquare()

template<typename Scalar, class Derived>

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

inlineinherited

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 )

inherited

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 )

inherited

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_AAt()

template<typename Scalar, class Derived>

template<typename MAT_A >

void mrpt::math::MatrixBase< Scalar, Derived >::matProductOf_AAt ( const MAT_A &  A )

inline

this = A * A^T

Definition at line 276 of file MatrixBase.h.

Referenced by mrpt::random::CRandomGenerator::drawDefinitePositiveMatrix(), PosePDFGaussTests::generateRandomPose2DPDF(), Pose3DPDFGaussTests::generateRandomPose3DPDF(), Pose3DQuatPDFGaussTests::generateRandomPose3DPDF(), mrpt::poses::CPose3DPDFSOG::getCovarianceAndMean(), mrpt::poses::CPosePDFSOG::getCovarianceAndMean(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), and mrpt::poses::CPosePDFSOG::mergeModes().

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matProductOf_AB()

template<typename Scalar , class Derived>

void mrpt::math::MatrixBase< Scalar, Derived >::matProductOf_AB	(	const Derived &	A,
		const Derived &	B
	)

this = A*B, with A & B of the same type of this.

For products of different matrix types, use the regular * operator (which requires the <Eigen/Dense> header)

Definition at line 175 of file MatrixBase_impl.h.

Referenced by mrpt::poses::CPoseRandomSampler::setPosePDF().

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matProductOf_Ab()

template<typename Scalar , class Derived >

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

inherited

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

Definition at line 485 of file MatrixVectorBase_impl.h.

matProductOf_AtA()

template<typename Scalar, class Derived>

template<typename MAT_A >

void mrpt::math::MatrixBase< Scalar, Derived >::matProductOf_AtA ( const MAT_A &  A )

inline

this = A^T * A

Definition at line 295 of file MatrixBase.h.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

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matProductOf_Atb()

template<typename Scalar , class Derived >

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

inherited

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

inherited

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

inherited

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

inherited

Definition at line 409 of file MatrixVectorBase_impl.h.

maximumDiagonal()

template<typename Scalar , class Derived >

Scalar mrpt::math::MatrixBase< Scalar, Derived >::maximumDiagonal

(

)

const

Returns the maximum value in the diagonal.

Definition at line 207 of file MatrixBase_impl.h.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

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mbDerived() [1/2]

template<typename Scalar, class Derived>

Derived& mrpt::math::MatrixBase< Scalar, Derived >::mbDerived ( )

inline

Definition at line 26 of file MatrixBase.h.

Referenced by mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::col(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::extractColumn(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::extractMatrix(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::extractRow(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::insertMatrix(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::insertMatrixTransposed(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::matProductOf_AAt(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::matProductOf_AtA(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::row(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::setDiagonal(), and mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::setIdentity().

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mbDerived() [2/2]

template<typename Scalar, class Derived>

const Derived& mrpt::math::MatrixBase< Scalar, Derived >::mbDerived ( ) const

inline

Definition at line 27 of file MatrixBase.h.

minCoeff() [1/3]

template<typename Scalar , class Derived >

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

inherited

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

inherited

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

inherited

Definition at line 398 of file MatrixVectorBase_impl.h.

minimumDiagonal()

template<typename Scalar , class Derived >

Scalar mrpt::math::MatrixBase< Scalar, Derived >::minimumDiagonal

(

)

const

Returns the minimum value in the diagonal.

Definition at line 213 of file MatrixBase_impl.h.

mvbDerived() [1/2]

template<typename Scalar, class Derived>

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

inlineinherited

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

inlineinherited

Definition at line 60 of file MatrixVectorBase.h.

norm()

template<typename Scalar , class Derived >

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

inherited

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

inherited

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

inlineinherited

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

inlineinherited

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

inlineinherited

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 )

inherited

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

inherited

Definition at line 470 of file MatrixVectorBase_impl.h.

operator*=()

template<typename Scalar , class Derived >

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

inherited

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

inlineinherited

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

inlineinherited

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 )

inlineinherited

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 )

inherited

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 )

inlineinherited

Definition at line 294 of file MatrixVectorBase.h.

operator-() [1/3]

template<typename Scalar, class Derived>

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

inlineinherited

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

inlineinherited

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

inlineinherited

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 )

inlineinherited

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 )

inherited

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 )

inlineinherited

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

inlineinherited

Definition at line 422 of file MatrixVectorBase.h.

rank()

template<typename Scalar, class Derived >

int mrpt::math::MatrixBase< Scalar, Derived >::rank

(

Scalar

threshold = 0

)

const

Finds the rank of the matrix via LU decomposition.

Uses Eigen's default threshold unless threshold>0.

Definition at line 156 of file MatrixBase_impl.h.

Referenced by mrpt::math::areAligned(), and mrpt::math::conformAPlane().

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removeColumns()

template<typename Scalar , class Derived >

void mrpt::math::MatrixBase< Scalar, Derived >::removeColumns

(

const std::vector< std::size_t > &

idxsToRemove

)

Removes columns of the matrix.

Indices may be unsorted and duplicated

Definition at line 38 of file MatrixBase_impl.h.

removeRows()

template<typename Scalar, class Derived>

void mrpt::math::MatrixBase< Scalar, Derived >::removeRows

(

const std::vector< std::size_t > &

idxsToRemove

)

Removes rows of the matrix.

Indices may be unsorted and duplicated

Definition at line 65 of file MatrixBase_impl.h.

row() [1/2]

template<typename Scalar, class Derived>

auto mrpt::math::MatrixBase< Scalar, Derived >::row ( int  rowIdx )

inline

Definition at line 100 of file MatrixBase.h.

Referenced by mrpt::vision::projectMatchedFeatures().

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row() [2/2]

template<typename Scalar, class Derived>

auto mrpt::math::MatrixBase< Scalar, Derived >::row ( int  rowIdx ) const

inline

Definition at line 105 of file MatrixBase.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

inherited

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 )

inlineinherited

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  )

inlineinherited

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  )

inlineinherited

Definition at line 81 of file MatrixVectorBase.h.

setDiagonal() [1/3]

template<typename Scalar, class Derived>

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

inline

Resize to NxN, set all entries to zero, except the main diagonal which is set to value

Definition at line 34 of file MatrixBase.h.

Referenced by mrpt::obs::CActionRobotMovement2D::prepareFastDrawSingleSample_modelGaussian(), mrpt::maps::CLandmarksMap::saveToMATLABScript2D(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::setDiagonal(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::setIdentity(), mrpt::poses::CPoseRandomSampler::setPosePDF(), and TEST().

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setDiagonal() [2/3]

template<typename Scalar, class Derived>

void mrpt::math::MatrixBase< Scalar, Derived >::setDiagonal ( const Scalar  value )

inline

Set all entries to zero, except the main diagonal which is set to value

Definition at line 43 of file MatrixBase.h.

setDiagonal() [3/3]

template<typename Scalar, class Derived>

void mrpt::math::MatrixBase< Scalar, Derived >::setDiagonal ( const std::vector< Scalar > &  diags )

inline

Resizes to NxN, with N the length of the input vector, set all entries to zero, except the main diagonal which is set to values in the vector.

Definition at line 51 of file MatrixBase.h.

setIdentity() [1/2]

template<typename Scalar, class Derived>

void mrpt::math::MatrixBase< Scalar, Derived >::setIdentity ( )

inline

Definition at line 57 of file MatrixBase.h.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates(), mrpt::opengl::TRenderMatrices::computeOrthoProjectionMatrix(), GraphSlamLevMarqTest< my_graph_t >::create_ring_path(), do_test_init_to_unit(), mrpt::poses::CPose2D::getHomogeneousMatrix(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::getMinUncertaintyPath(), mrpt::poses::CPosePDFSOG::getMostLikelyCovarianceAndMean(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), mrpt::opengl::COpenGLViewport::renderTextMessages(), mrpt::opengl::COpenGLViewport::renderViewportBorder(), TEST(), and mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line().

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setIdentity() [2/2]

template<typename Scalar, class Derived>

void mrpt::math::MatrixBase< Scalar, Derived >::setIdentity ( const std::size_t  N )

inline

Definition at line 62 of file MatrixBase.h.

setZero() [1/3]

template<typename Scalar, class Derived>

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

inlineinherited

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  )

inlineinherited

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 )

inlineinherited

Definition at line 117 of file MatrixVectorBase.h.

sum()

template<typename Scalar , class Derived >

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

inherited

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

inherited

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

inlineinherited

Definition at line 226 of file MatrixVectorBase.h.

trace()

template<typename Scalar , class Derived >

Scalar mrpt::math::MatrixBase< Scalar, Derived >::trace

(

)

const

Returns the trace of the matrix (not necessarily square).

Definition at line 219 of file MatrixBase_impl.h.

Referenced by TEST().

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transpose() [1/2]

template<typename Scalar, class Derived>

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

inlineinherited

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

inlineinherited

Definition at line 164 of file MatrixVectorBase.h.

unsafeRemoveColumns()

template<typename Scalar , class Derived >

void mrpt::math::MatrixBase< Scalar, Derived >::unsafeRemoveColumns

(

const std::vector< std::size_t > &

idxs

)

Removes columns of the matrix.

This "unsafe" version assumes indices sorted in ascending order.

Definition at line 22 of file MatrixBase_impl.h.

unsafeRemoveRows()

template<typename Scalar, class Derived>

void mrpt::math::MatrixBase< Scalar, Derived >::unsafeRemoveRows

(

const std::vector< std::size_t > &

idxs

)

Removes rows of the matrix.

This "unsafe" version assumes indices sorted in ascending order.

Definition at line 49 of file MatrixBase_impl.h.

Zero() [1/2]

template<typename Scalar, class Derived>

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

inlinestaticinherited

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  )

inlinestaticinherited

Definition at line 126 of file MatrixVectorBase.h.