Detailed Description

This class is a "CSerializable" wrapper for "CMatrixDynamic<double>".

Note: For a complete introduction to Matrices and vectors in MRPT, see: https://www.mrpt.org/Matrices_vectors_arrays_and_Linear_Algebra_MRPT_and_Eigen_classes

Definition at line 23 of file CMatrixD.h.

#include <mrpt/math/CMatrixD.h>

Inheritance diagram for mrpt::math::CMatrixD:

Public Types
using	Base = CMatrixDynamic< double >

Public Member Functions
	CMatrixD ()
	Constructor. More...

	CMatrixD (size_t row, size_t col)
	Constructor. More...

	CMatrixD (const Base &m)
	Copy constructor. More...

	CMatrixD (const CMatrixFloat &m)
	Copy constructor. More...

template<typename Other >
CMatrixD &	operator= (const Other &other)

template<class Other >
	CMatrixD (const Other &other)

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

void	swap (CMatrixDynamic< double > &o)
	Swap with another matrix very efficiently (just swaps a pointer and two integer values). More...

void	setFromMatrixLike (const MAT &m)

size_type	rows () const
	Number of rows in the matrix. More...

size_type	cols () const
	Number of columns in the matrix. More...

matrix_size_t	size () const
	Get a 2-vector with [NROWS NCOLS] (as in MATLAB command size(x)) More...

void	setSize (size_t row, size_t col, bool zeroNewElements=false)
	Changes the size of matrix, maintaining the previous contents. More...

void	resize (size_t row, size_t col)

void	resize (size_t vectorLen)
	Resizes as a Nx1 vector. More...

void	resize (const matrix_size_t &siz, bool zeroNewElements=false)
	Resize the matrix. More...

CMatrixDynamic &	derived ()

const CMatrixDynamic &	derived () const

void	conservativeResize (size_t row, size_t col)

const double *	data () const
	Return raw pointer to row-major data buffer. More...

double *	data ()

double &	operator() (size_t row, size_t col)
	Subscript operator to get/set individual elements. More...

const double &	operator() (size_t row, size_t col) const
	Subscript operator to get individual elements. More...

double &	operator[] (size_t ith)
	Subscript operator to get/set an individual element from a row or column matrix. More...

const double &	operator[] (size_t ith) const
	Subscript operator to get/set an individual element from a row or column matrix. More...

void	appendRow (const VECTOR &in)
	Appends a new row to the MxN matrix from a 1xN vector. More...

void	setRow (const Index row, const VECTOR &v)

void	setCol (const Index col, const VECTOR &v)

void	appendCol (const VECTOR &in)
	Appends a new column to the matrix from a vector. More...

void	asVector (VECTOR &out) const
	Returns a vector containing the matrix's values. More...

EIGEN_MAP	asEigen ()
	Get as an Eigen-compatible Eigen::Map object. More...

EIGEN_MAP	asEigen () const

CMatrixDynamic< float >	cast_float () const

CMatrixDynamic< double >	cast_double () const

CVectorDynamic< Scalar >	llt_solve (const CVectorDynamic< Scalar > &b) const
	Solves the linear system Ax=b, returns x, with A this symmetric matrix. More...

CVectorDynamic< Scalar >	lu_solve (const CVectorDynamic< Scalar > &b) const
	Solves the linear system Ax=b, returns x, with A this asymmetric matrix. More...

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

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

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=U^T * 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 * A^T More...

template<typename MAT_A >
void	matProductOf_AtA (const MAT_A &A)
	this = A^T * 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 = A^T * 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)

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Serialize CSerializable Object to CSchemeArchiveBase derived object. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Serialize CSchemeArchiveBase derived object to CSerializable Object. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::math ::CMatrixD >

using	ConstPtr = std::shared_ptr< const mrpt::math ::CMatrixD >

using	UniquePtr = std::unique_ptr< mrpt::math ::CMatrixD >

using	ConstUniquePtr = std::unique_ptr< const mrpt::math ::CMatrixD >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::math" "::" "CMatrixD"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Matrix type definitions
using	value_type = double
	The type of the matrix elements. More...

using	Scalar = double

using	Index = int

using	reference = double &

using	const_reference = const double &

using	size_type = int

using	difference_type = std::ptrdiff_t

using	eigen_t = Eigen::Matrix< double, RowsAtCompileTime, ColsAtCompileTime, StorageOrder, RowsAtCompileTime, ColsAtCompileTime >

static constexpr int	RowsAtCompileTime

static constexpr int	ColsAtCompileTime

static constexpr int	SizeAtCompileTime

static constexpr int	is_mrpt_type

static constexpr int	StorageOrder

Iterators interface
using	iterator = typename vec_t::iterator

using	const_iterator = typename vec_t::const_iterator

iterator	begin ()

const_iterator	begin () const

iterator	end ()

const_iterator	end () const

const_iterator	cbegin () const

const_iterator	cend () const

Initialization methods
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)

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)

Member Typedef Documentation

◆ Base

using mrpt::math::CMatrixD::Base = CMatrixDynamic<double>

Definition at line 29 of file CMatrixD.h.

◆ const_iterator

using mrpt::math::CMatrixDynamic< double >::const_iterator = typename vec_t::const_iterator

inherited

Definition at line 74 of file CMatrixDynamic.h.

◆ const_reference

using mrpt::math::CMatrixDynamic< double >::const_reference = const double &

inherited

Definition at line 58 of file CMatrixDynamic.h.

◆ ConstPtr

using mrpt::math::CMatrixD::ConstPtr = std::shared_ptr<const mrpt::math :: CMatrixD >

Definition at line 26 of file CMatrixD.h.

◆ ConstUniquePtr

using mrpt::math::CMatrixD::ConstUniquePtr = std::unique_ptr<const mrpt::math :: CMatrixD >

Definition at line 26 of file CMatrixD.h.

◆ difference_type

using mrpt::math::CMatrixDynamic< double >::difference_type = std::ptrdiff_t

inherited

Definition at line 60 of file CMatrixDynamic.h.

◆ eigen_t

using mrpt::math::CMatrixDynamic< double >::eigen_t = Eigen::Matrix< double , RowsAtCompileTime, ColsAtCompileTime, StorageOrder, RowsAtCompileTime, ColsAtCompileTime>

inherited

Definition at line 68 of file CMatrixDynamic.h.

◆ Index

using mrpt::math::CMatrixDynamic< double >::Index = int

inherited

Definition at line 56 of file CMatrixDynamic.h.

◆ iterator

using mrpt::math::CMatrixDynamic< double >::iterator = typename vec_t::iterator

inherited

Definition at line 73 of file CMatrixDynamic.h.

◆ Ptr

using mrpt::math::CMatrixD::Ptr = std::shared_ptr< mrpt::math :: CMatrixD >

A type for the associated smart pointer

Definition at line 26 of file CMatrixD.h.

◆ reference

using mrpt::math::CMatrixDynamic< double >::reference = double &

inherited

Definition at line 57 of file CMatrixDynamic.h.

◆ Scalar

using mrpt::math::CMatrixDynamic< double >::Scalar = double

inherited

Definition at line 55 of file CMatrixDynamic.h.

◆ size_type

using mrpt::math::CMatrixDynamic< double >::size_type = int

inherited

Definition at line 59 of file CMatrixDynamic.h.

◆ UniquePtr

using mrpt::math::CMatrixD::UniquePtr = std::unique_ptr< mrpt::math :: CMatrixD >

Definition at line 26 of file CMatrixD.h.

◆ value_type

using mrpt::math::CMatrixDynamic< double >::value_type = double

inherited

The type of the matrix elements.

Definition at line 54 of file CMatrixDynamic.h.

Constructor & Destructor Documentation

◆ CMatrixD() [1/5]

mrpt::math::CMatrixD::CMatrixD ( )

inline

Constructor.

Definition at line 32 of file CMatrixD.h.

◆ CMatrixD() [2/5]

mrpt::math::CMatrixD::CMatrixD	(	size_t	row,
		size_t	col
	)

inline

Constructor.

Definition at line 34 of file CMatrixD.h.

◆ CMatrixD() [3/5]

mrpt::math::CMatrixD::CMatrixD ( const Base & m )

inlineexplicit

Copy constructor.

Definition at line 37 of file CMatrixD.h.

◆ CMatrixD() [4/5]

mrpt::math::CMatrixD::CMatrixD ( const CMatrixFloat & m )

inlineexplicit

Copy constructor.

Definition at line 40 of file CMatrixD.h.

◆ CMatrixD() [5/5]

template<class Other >

mrpt::math::CMatrixD::CMatrixD ( const Other & other )

inlineexplicit

Constructor from any other Eigen class

Definition at line 51 of file CMatrixD.h.

References mrpt::math::CMatrixDynamic< double >::operator=().

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::math::CMatrixD::_GetBaseClass ( )

staticprotected

◆ appendCol()

void mrpt::math::CMatrixDynamic< double >::appendCol ( const VECTOR & in )

inlineinherited

Appends a new column to the matrix from a vector.

The length of the vector must match the number of rows of the matrix, unless it is (0,0).

Exceptions

std::exception On size mismatch.

See also: extractCol; appendRow

Definition at line 510 of file CMatrixDynamic.h.

◆ appendRow()

void mrpt::math::CMatrixDynamic< double >::appendRow ( const VECTOR & in )

inlineinherited

Appends a new row to the MxN matrix from a 1xN vector.

The lenght of the vector must match the width of the matrix, unless it's empty: in that case the matrix is resized to 1xN.

CMatrixDouble  M(0,0);
CVectorDouble  v(7),w(7);
// ...
M.appendRow(v);
M.appendRow(w);

Exceptions

std::exception On incorrect vector length.

See also: extractRow; appendCol

Definition at line 477 of file CMatrixDynamic.h.

◆ 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.

◆ asEigen() [1/2]

EIGEN_MAP mrpt::math::CMatrixDynamic< double >::asEigen ( )

inlineinherited

Get as an Eigen-compatible Eigen::Map object.

Definition at line 540 of file CMatrixDynamic.h.

◆ asEigen() [2/2]

EIGEN_MAP mrpt::math::CMatrixDynamic< double >::asEigen ( ) const

inlineinherited

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 553 of file CMatrixDynamic.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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◆ asVector()

void mrpt::math::CMatrixDynamic< double >::asVector ( VECTOR & out ) const

inlineinherited

Returns a vector containing the matrix's values.

Definition at line 528 of file CMatrixDynamic.h.

◆ begin() [1/2]

iterator mrpt::math::CMatrixDynamic< double >::begin ( )

inlineinherited

Definition at line 75 of file CMatrixDynamic.h.

◆ begin() [2/2]

const_iterator mrpt::math::CMatrixDynamic< double >::begin ( ) const

inlineinherited

Definition at line 77 of file CMatrixDynamic.h.

◆ 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

inlineinherited

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

inlineinherited

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

Definition at line 240 of file MatrixBase.h.

◆ cast_double()

CMatrixDynamic< double > CMatrixDynamic::cast_double ( ) const

inherited

Definition at line 26 of file CMatrixDynamic.cpp.

◆ cast_float()

CMatrixDynamic< float > CMatrixDynamic::cast_float ( ) const

inherited

Definition at line 19 of file CMatrixDynamic.cpp.

◆ cbegin()

const_iterator mrpt::math::CMatrixDynamic< double >::cbegin ( ) const

inlineinherited

Definition at line 79 of file CMatrixDynamic.h.

◆ cend()

const_iterator mrpt::math::CMatrixDynamic< double >::cend ( ) const

inlineinherited

Definition at line 80 of file CMatrixDynamic.h.

◆ chol()

template<typename Scalar , class Derived>

bool mrpt::math::MatrixBase< Scalar, Derived >::chol ( Derived & U ) const

inherited

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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◆ clone()

virtual mrpt::rtti::CObject* mrpt::math::CMatrixD::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ 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 )

inlineinherited

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

inlineinherited

Definition at line 94 of file MatrixBase.h.

◆ cols()

size_type mrpt::math::CMatrixDynamic< double >::cols ( ) const

inlineinherited

Number of columns in the matrix.

See also: rows()

Definition at line 340 of file CMatrixDynamic.h.

Referenced by serializeTo().

◆ conservativeResize()

void mrpt::math::CMatrixDynamic< double >::conservativeResize	(	size_t	row,
		size_t	col
	)

inlineinherited

Definition at line 370 of file CMatrixDynamic.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.

◆ Create()

template<typename... Args>

static Ptr mrpt::math::CMatrixD::Create ( Args &&... args )

inlinestatic

Definition at line 26 of file CMatrixD.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::math::CMatrixD::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 26 of file CMatrixD.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::math::CMatrixD::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::math::CMatrixD::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 26 of file CMatrixD.h.

◆ data() [1/2]

const double * mrpt::math::CMatrixDynamic< double >::data ( ) const

inlineinherited

Return raw pointer to row-major data buffer.

All matrix cells can be assumed to be stored contiguously in memory, i.e. row stride = column count.

Definition at line 375 of file CMatrixDynamic.h.

◆ data() [2/2]

double * mrpt::math::CMatrixDynamic< double >::data ( )

inlineinherited

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 381 of file CMatrixDynamic.h.

◆ derived() [1/2]

CMatrixDynamic& mrpt::math::CMatrixDynamic< double >::derived ( )

inlineinherited

Definition at line 368 of file CMatrixDynamic.h.

◆ derived() [2/2]

const CMatrixDynamic& mrpt::math::CMatrixDynamic< double >::derived ( ) const

inlineinherited

Definition at line 369 of file CMatrixDynamic.h.

◆ det()

template<typename Scalar , class Derived >

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

inherited

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.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ eig()

template<typename Scalar, class Derived>

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

inherited

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

inherited

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.

◆ end() [1/2]

iterator mrpt::math::CMatrixDynamic< double >::end ( )

inlineinherited

Definition at line 76 of file CMatrixDynamic.h.

◆ end() [2/2]

const_iterator mrpt::math::CMatrixDynamic< double >::end ( ) const

inlineinherited

Definition at line 78 of file CMatrixDynamic.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

inlineinherited

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

inlineinherited

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

inlineinherited

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

inlineinherited

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

inlineinherited

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

inlineinherited

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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◆ getClassName()

static constexpr auto mrpt::math::CMatrixD::getClassName ( )

inlinestatic

Definition at line 26 of file CMatrixD.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::math::CMatrixD::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::math::CMatrixD::GetRuntimeClassIdStatic ( )

static

◆ 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 ( )

inlinestaticinherited

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 )

inlinestaticinherited

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
	)

inlineinherited

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
	)

inlineinherited

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

inherited

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

inherited

Returns the inverse of a symmetric matrix using LLt.

Definition at line 195 of file MatrixBase_impl.h.

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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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◆ llt_solve()

CVectorDynamic< double > CMatrixDynamic::llt_solve ( const CVectorDynamic< Scalar > & b ) const

inherited

Solves the linear system Ax=b, returns x, with A this symmetric matrix.

See also: lu_solve()

Definition at line 34 of file CMatrixDynamic.cpp.

◆ 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.

◆ lu_solve()

CVectorDynamic< double > CMatrixDynamic::lu_solve ( const CVectorDynamic< Scalar > & b ) const

inherited

Solves the linear system Ax=b, returns x, with A this asymmetric matrix.

See also: llt_solve()

Definition at line 40 of file CMatrixDynamic.cpp.

◆ matProductOf_AAt()

template<typename Scalar, class Derived>

template<typename MAT_A >

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

inlineinherited

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
	)

inherited

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 )

inlineinherited

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

inherited

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 ( )

inlineinherited

Definition at line 26 of file MatrixBase.h.

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◆ mbDerived() [2/2]

template<typename Scalar, class Derived>

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

inlineinherited

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

inherited

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.

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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()() [1/2]

double & mrpt::math::CMatrixDynamic< double >::operator()	(	size_t	row,
		size_t	col
	)

inlineinherited

Subscript operator to get/set individual elements.

Definition at line 389 of file CMatrixDynamic.h.

◆ operator()() [2/2]

const double & mrpt::math::CMatrixDynamic< double >::operator()	(	size_t	row,
		size_t	col
	)		const

inlineinherited

Subscript operator to get individual elements.

Definition at line 405 of file CMatrixDynamic.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 Other >

CMatrixD& mrpt::math::CMatrixD::operator= ( const Other & other )

inline

Assignment operator from any other Eigen class

Definition at line 44 of file CMatrixD.h.

References mrpt::math::CMatrixDynamic< double >::operator=().

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◆ 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.

◆ operator[]() [1/2]

double & mrpt::math::CMatrixDynamic< double >::operator[] ( size_t ith )

inlineinherited

Subscript operator to get/set an individual element from a row or column matrix.

Exceptions

std::exception If the object is not a column or row matrix.

Definition at line 423 of file CMatrixDynamic.h.

◆ operator[]() [2/2]

const double & mrpt::math::CMatrixDynamic< double >::operator[] ( size_t ith ) const

inlineinherited

Subscript operator to get/set an individual element from a row or column matrix.

For non-vectors (NxM matrices), it returns the i-th matrix element, in RowMajor order.

Exceptions

std::exception If the object is not a column or row matrix.

Definition at line 454 of file CMatrixDynamic.h.

◆ rank()

template<typename Scalar, class Derived >

int mrpt::math::MatrixBase< Scalar, Derived >::rank ( Scalar threshold = 0 ) const

inherited

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 )

inherited

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 )

inherited

Removes rows of the matrix.

Indices may be unsorted and duplicated

Definition at line 65 of file MatrixBase_impl.h.

◆ resize() [1/3]

void mrpt::math::CMatrixDynamic< double >::resize	(	size_t	row,
		size_t	col
	)

inlineinherited

Definition at line 356 of file CMatrixDynamic.h.

◆ resize() [2/3]

void mrpt::math::CMatrixDynamic< double >::resize ( size_t vectorLen )

inlineinherited

Resizes as a Nx1 vector.

Definition at line 359 of file CMatrixDynamic.h.

◆ resize() [3/3]

void mrpt::math::CMatrixDynamic< double >::resize	(	const matrix_size_t &	siz,
		bool	zeroNewElements = `false`
	)

inlineinherited

Resize the matrix.

Definition at line 362 of file CMatrixDynamic.h.

◆ row() [1/2]

template<typename Scalar, class Derived>

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

inlineinherited

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

inlineinherited

Definition at line 105 of file MatrixBase.h.

◆ rows()

size_type mrpt::math::CMatrixDynamic< double >::rows ( ) const

inlineinherited

Number of rows in the matrix.

See also: rows()

Definition at line 337 of file CMatrixDynamic.h.

Referenced by serializeTo().

◆ 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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◆ serializeFrom() [1/2]

void CMatrixD::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Serialize CSchemeArchiveBase derived object to CSerializable Object.

Implements mrpt::serialization::CSerializable.

Definition at line 33 of file CMatrixD.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::serialization::CArchive::ReadAs(), mrpt::serialization::CArchive::ReadBufferFixEndianness(), and mrpt::math::CMatrixDynamic< double >::setSize().

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CMatrixD::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 22 of file CMatrixD.cpp.

◆ serializeTo() [1/2]

void CMatrixD::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Serialize CSerializable Object to CSchemeArchiveBase derived object.

Implements mrpt::serialization::CSerializable.

Definition at line 23 of file CMatrixD.cpp.

References mrpt::math::CMatrixDynamic< double >::cols(), out, and mrpt::math::CMatrixDynamic< double >::rows().

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◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setCol()

void mrpt::math::CMatrixDynamic< double >::setCol	(	const Index	col,
		const VECTOR &	v
	)

inlineinherited

Definition at line 496 of file CMatrixDynamic.h.

◆ 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
	)

inlineinherited

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 )

inlineinherited

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 )

inlineinherited

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.

◆ setFromMatrixLike()

void mrpt::math::CMatrixDynamic< double >::setFromMatrixLike ( const MAT & m )

inlineinherited

Definition at line 252 of file CMatrixDynamic.h.

◆ setIdentity() [1/2]

template<typename Scalar, class Derived>

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

inlineinherited

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 )

inlineinherited

Definition at line 62 of file MatrixBase.h.

◆ setRow()

void mrpt::math::CMatrixDynamic< double >::setRow	(	const Index	row,
		const VECTOR &	v
	)

inlineinherited

Definition at line 489 of file CMatrixDynamic.h.

◆ setSize()

void mrpt::math::CMatrixDynamic< double >::setSize	(	size_t	row,
		size_t	col,
		bool	zeroNewElements = `false`
	)

inlineinherited

Changes the size of matrix, maintaining the previous contents.

Definition at line 352 of file CMatrixDynamic.h.

Referenced by serializeFrom().

◆ setZero() [1/3]

template<typename Scalar, class Derived>

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

inlineinherited

Definition at line 112 of file MatrixVectorBase.h.

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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.

◆ size()

matrix_size_t mrpt::math::CMatrixDynamic< double >::size ( ) const

inlineinherited

Get a 2-vector with [NROWS NCOLS] (as in MATLAB command size(x))

Definition at line 343 of file CMatrixDynamic.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.

◆ swap()

void mrpt::math::CMatrixDynamic< double >::swap ( CMatrixDynamic< double > & o )

inlineinherited

Swap with another matrix very efficiently (just swaps a pointer and two integer values).

Definition at line 141 of file CMatrixDynamic.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

inherited

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 )

inherited

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 )

inherited

Removes rows of the matrix.

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

Definition at line 49 of file MatrixBase_impl.h.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.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.

Member Data Documentation

◆ className

constexpr const char* mrpt::math::CMatrixD::className = "mrpt::math" "::" "CMatrixD"

static

Definition at line 26 of file CMatrixD.h.

◆ ColsAtCompileTime

constexpr int mrpt::math::CMatrixDynamic< double >::ColsAtCompileTime

staticinherited

Definition at line 62 of file CMatrixDynamic.h.

◆ is_mrpt_type

constexpr int mrpt::math::CMatrixDynamic< double >::is_mrpt_type

staticinherited

Definition at line 64 of file CMatrixDynamic.h.

◆ RowsAtCompileTime

constexpr int mrpt::math::CMatrixDynamic< double >::RowsAtCompileTime

staticinherited

Definition at line 61 of file CMatrixDynamic.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::math::CMatrixD::runtimeClassId

staticprotected

Definition at line 26 of file CMatrixD.h.

◆ SizeAtCompileTime

constexpr int mrpt::math::CMatrixDynamic< double >::SizeAtCompileTime

staticinherited

Definition at line 63 of file CMatrixDynamic.h.

◆ StorageOrder

constexpr int mrpt::math::CMatrixDynamic< double >::StorageOrder

staticinherited

Definition at line 65 of file CMatrixDynamic.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

RTTI stuff

Matrix type definitions

Iterators interface

Initialization methods

Member Typedef Documentation

◆ Base

◆ const_iterator

◆ const_reference

◆ ConstPtr

◆ ConstUniquePtr

◆ difference_type

◆ eigen_t

◆ Index

◆ iterator

◆ Ptr

◆ reference

◆ Scalar

◆ size_type

◆ UniquePtr

◆ value_type

Constructor & Destructor Documentation

◆ CMatrixD() [1/5]

◆ CMatrixD() [2/5]

◆ CMatrixD() [3/5]

◆ CMatrixD() [4/5]

◆ CMatrixD() [5/5]

Member Function Documentation

◆ _GetBaseClass()

◆ appendCol()

◆ appendRow()

◆ array() [1/2]

◆ array() [2/2]

◆ asEigen() [1/2]

◆ asEigen() [2/2]

◆ assign()

◆ asString()

◆ asVector()

◆ begin() [1/2]

◆ begin() [2/2]

◆ block() [1/3]

◆ block() [2/3]

◆ block() [3/3]

◆ blockCopy() [1/2]

◆ blockCopy() [2/2]

◆ cast_double()

◆ cast_float()

◆ cbegin()

◆ cend()

◆ chol()

◆ clone()

◆ coeff()

◆ coeffRef()

◆ col() [1/2]

◆ col() [2/2]

◆ cols()

◆ conservativeResize()

◆ Constant() [1/2]

◆ Constant() [2/2]

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ data() [1/2]

◆ data() [2/2]

◆ derived() [1/2]

◆ derived() [2/2]

◆ det()

◆ dot() [1/2]

◆ dot() [2/2]

◆ duplicateGetSmartPtr()

◆ eig()

◆ eig_symmetric()

◆ empty()

◆ end() [1/2]

◆ end() [2/2]