mrpt::math::CMatrixDynamic< T > Class Template Reference

Detailed Description

template<class T>
class mrpt::math::CMatrixDynamic< T >

This template class provides the basic functionality for a general 2D any-size, resizable container of numerical or non-numerical elements.

NOTES:

• This class is not serializable since it is a template. For using serialization, see mrpt::math::CMatrixD.
• First row or column index is "0".
• This class includes range checks with ASSERT_() if compiling with "_DEBUG" or "MRPT_ALWAYS_CHECKS_DEBUG_MATRICES=1".
• Use asEigen() to get an Eigen::Map<> object and to access full Algebra functionality.

See also

CMatrixFixed

Definition at line 39 of file CMatrixDynamic.h.

#include <mrpt/math/CMatrixDynamic.h>

Inheritance diagram for mrpt::math::CMatrixDynamic< T >:

Public Member Functions
void	swap (CMatrixDynamic< T > &o)
	Swap with another matrix very efficiently (just swaps a pointer and two integer values). More...
	CMatrixDynamic (const CMatrixDynamic &m)
	Constructors. More...
	CMatrixDynamic (size_t row=0, size_t col=0)
template<typename U >
	CMatrixDynamic (const CMatrixDynamic< U > &m)
	Copy (casting from if needed) from another matrix. More...
template<class Derived >
	CMatrixDynamic (const Eigen::MatrixBase< Derived > &m)
	Convert from Eigen matrix. More...
template<typename _Lhs , typename _Rhs , int Option>
	CMatrixDynamic (const Eigen::Product< _Lhs, _Rhs, Option > &p)
	Convert from Eigen product. More...
template<typename Op , typename Lhs , typename Rhs >
	CMatrixDynamic (const Eigen::CwiseBinaryOp< Op, Lhs, Rhs > &p)
	Convert from Eigen binary op. More...
	CMatrixDynamic (const CMatrixDynamic &m, const size_t cropRowCount, const size_t cropColCount)
	Copy constructor & crop from another matrix. More...
template<std::size_t ROWS, std::size_t COLS>
	CMatrixDynamic (const CMatrixFixed< T, ROWS, COLS > &o)
	Constructor from fixed-size matrix: More...
template<typename V , size_t N>
	CMatrixDynamic (size_t row, size_t col, V(&theArray)[N])
	Constructor from a given size and a C array. More...
template<typename V >
	CMatrixDynamic (size_t row, size_t col, const V &theVector)
	Constructor from a given size and a STL container (std::vector, std::list,...) with the initial values. More...
virtual	~CMatrixDynamic ()=default
template<class MAT >
void	setFromMatrixLike (const MAT &m)
CMatrixDynamic &	operator= (const CMatrixDynamic< T > &m)=default
template<typename U >
CMatrixDynamic &	operator= (const CMatrixDynamic< U > &m)
	Assignment operator from another matrix (possibly of a different type) More...
template<class Derived >
CMatrixDynamic &	operator= (const Eigen::MatrixBase< Derived > &m)
	Assignment from an Eigen matrix. More...
template<std::size_t ROWS, std::size_t COLS>
CMatrixDynamic &	operator= (const CMatrixFixed< T, ROWS, COLS > &m)
	Assignment from a fixed matrix. More...
template<typename V , size_t N>
CMatrixDynamic &	operator= (V(&theArray)[N])
	Assignment operator for initializing from a C array (The matrix must be set to the correct size before invoking this asignament) More...
	CMatrixDynamic (CMatrixDynamic &&m)
	Move ctor. More...
CMatrixDynamic &	operator= (CMatrixDynamic &&m)
	Move operator. More...
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 T *	data () const
	Return raw pointer to row-major data buffer. More...
T *	data ()
T &	operator() (size_t row, size_t col)
	Subscript operator to get/set individual elements. More...
const T &	operator() (size_t row, size_t col) const
	Subscript operator to get individual elements. More...
T &	operator[] (size_t ith)
	Subscript operator to get/set an individual element from a row or column matrix. More...
const T &	operator[] (size_t ith) const
	Subscript operator to get/set an individual element from a row or column matrix. More...
template<typename VECTOR >
void	appendRow (const VECTOR &in)
	Appends a new row to the MxN matrix from a 1xN vector. More...
template<typename VECTOR >
void	setRow (const Index row, const VECTOR &v)
template<typename VECTOR >
void	setCol (const Index col, const VECTOR &v)
template<typename VECTOR >
void	appendCol (const VECTOR &in)
	Appends a new column to the matrix from a vector. More...
template<typename VECTOR >
void	asVector (VECTOR &out) const
	Returns a vector containing the matrix's values. More...
template<typename EIGEN_MATRIX = eigen_t, typename EIGEN_MAP = Eigen::Map< EIGEN_MATRIX, MRPT_MAX_ALIGN_BYTES, Eigen::InnerStride<1>>>
EIGEN_MAP	asEigen ()
	Get as an Eigen-compatible Eigen::Map object. More...
template<typename EIGEN_MATRIX = eigen_t, typename EIGEN_MAP = Eigen::Map< const EIGEN_MATRIX, MRPT_MAX_ALIGN_BYTES, Eigen::InnerStride<1>>>
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...
CMatrixDynamic< T > &	mbDerived ()
const CMatrixDynamic< T > &	mbDerived () const
void	setDiagonal (const std::size_t N, const T value)
	Resize to NxN, set all entries to zero, except the main diagonal which is set to value More...
void	setDiagonal (const T value)
	Set all entries to zero, except the main diagonal which is set to value More...
void	setDiagonal (const std::vector< T > &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 CMatrixDynamic< T > &A, const CMatrixDynamic< T > &B)
	this = A*B, with A & B of the same type of this. More...
CMatrixDynamic< T > &	mvbDerived ()
const CMatrixDynamic< T > &	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
void	extractRow (int rowIdx, VECTOR_LIKE &v) const
VECTOR_LIKE	extractRow (int rowIdx) const
void	extractColumn (int colIdx, VECTOR_LIKE &v) const
VECTOR_LIKE	extractColumn (int colIdx) const
Standalone operations (do NOT require `#include <Eigen/Dense>`)
T	det () const
	Determinant of matrix. More...
CMatrixDynamic< T >	inverse () const
	Returns the inverse of a general matrix using LU. More...
CMatrixDynamic< T >	inverse_LLt () const
	Returns the inverse of a symmetric matrix using LLt. More...
int	rank (T threshold=0) const
	Finds the rank of the matrix via LU decomposition. More...
bool	chol (CMatrixDynamic< T > &U) const
	Cholesky M=UT * U decomposition for symmetric matrix (upper-half of the matrix is actually ignored. More...
bool	eig (CMatrixDynamic< T > &eVecs, std::vector< T > &eVals, bool sorted=true) const
	Computes the eigenvectors and eigenvalues for a square, general matrix. More...
bool	eig_symmetric (CMatrixDynamic< T > &eVecs, std::vector< T > &eVals, bool sorted=true) const
	Read: eig() More...
T	maximumDiagonal () const
	Returns the maximum value in the diagonal. More...
T	minimumDiagonal () const
	Returns the minimum value in the diagonal. More...
T	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...
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...
void	insertMatrixTransposed (const int row_start, const int col_start, const OTHERMATVEC &submat)
	Like insertMatrix(), but inserts ‘submat’` (transposed) More...
CMatrixFixed< T, 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< T >	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...
CMatrixFixed< T, BLOCK_ROWS, BLOCK_COLS >	extractMatrix (const int start_row=0, const int start_col=0) const
CMatrixDynamic< T >	extractMatrix (const int BLOCK_ROWS, const int BLOCK_COLS, const int start_row, const int start_col) const
void	matProductOf_AAt (const MAT_A &A)
	this = A * AT More...
void	matProductOf_AtA (const MAT_A &A)
	this = AT * A More...
Operations that DO require `#include <Eigen/Dense>` in user code
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
auto	operator- (const MatrixVectorBase< S2, D2 > &m2) const
auto	operator+ (const MatrixVectorBase< S2, D2 > &m2) const
void	operator+= (const MatrixVectorBase< S2, D2 > &m2)
void	operator-= (const MatrixVectorBase< S2, D2 > &m2)
auto	operator* (const MatrixVectorBase< S2, D2 > &m2) const
auto	operator* (const T s) const
CMatrixFixed< T, N, 1 >	tail () const
CMatrixFixed< T, N, 1 >	head () const
Standalone operations (do NOT require `#include <Eigen/Dense>`)
CMatrixDynamic< T >	operator- (const CMatrixDynamic< T > &m2) const
CMatrixDynamic< T >	operator+ (const CMatrixDynamic< T > &m2) const
void	operator+= (T s)
void	operator+= (const CMatrixDynamic< T > &m2)
void	operator-= (T s)
void	operator-= (const CMatrixDynamic< T > &m2)
CMatrixDynamic< T >	operator* (const CMatrixDynamic< T > &v)
CMatrixDynamic< T >	operator* (const CMatrixDynamic< T > &m2) const
T &	coeffRef (int r, int c)
const T &	coeff (int r, int c) const
T	minCoeff () const
	Minimum value in the matrix/vector. More...
T	minCoeff (std::size_t &outIndexOfMin) const
T	minCoeff (std::size_t &rowIdx, std::size_t &colIdx) const
T	maxCoeff () const
	Maximum value in the matrix/vector. More...
T	maxCoeff (std::size_t &outIndexOfMax) const
T	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...
T	norm_inf () const
	Compute the norm-infinite of a vector ($f[ ||{v}||_ $f]), ie the maximum absolute value of the elements. More...
T	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*= (T s)
T	dot (const CVectorDynamic< T > &v) const
	dot product of this \cdot v More...
T	dot (const MatrixVectorBase< T, CMatrixDynamic< T > > &v) const
void	matProductOf_Ab (const CMatrixDynamic< T > &A, const CVectorDynamic< T > &b)
	this = A * b , with A and b a dynamic matrix & vector More...
void	matProductOf_Atb (const CMatrixDynamic< T > &A, const CVectorDynamic< T > &b)
	this = AT * b , with A and b a dynamic matrix & vector More...
T	sum () const
	Sum of all elements in matrix/vector. More...
T	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)
bool	operator== (const OTHERMATVEC &o) const
bool	operator!= (const OTHERMATVEC &o) const

Static Public Member Functions
static CMatrixDynamic< T >	Identity ()
static CMatrixDynamic< T >	Identity (const std::size_t N)

Private Types
using	vec_t = mrpt::containers::vector_with_small_size_optimization< T, small_size, MRPT_MAX_STATIC_ALIGN_BYTES >

Private Member Functions
void	realloc (size_t row, size_t col, bool newElementsToZero=false)
	Internal use only: It reallocs the memory for the 2D matrix, maintaining the previous contents if posible. More...

Private Attributes
vec_t	m_data
	RowMajor matrix data. More...
size_t	m_Rows {0}
size_t	m_Cols {0}

Static Private Attributes
static constexpr size_t	small_size = 16

Matrix type definitions
using	value_type = T
	The type of the matrix elements. More...
using	Scalar = T
using	Index = int
using	reference = T &
using	const_reference = const T &
using	size_type = int
using	difference_type = std::ptrdiff_t
using	eigen_t = Eigen::Matrix< T, RowsAtCompileTime, ColsAtCompileTime, StorageOrder, RowsAtCompileTime, ColsAtCompileTime >
static constexpr int	RowsAtCompileTime = -1
static constexpr int	ColsAtCompileTime = -1
static constexpr int	SizeAtCompileTime = -1
static constexpr int	is_mrpt_type = 1
static constexpr int	StorageOrder = 1

Iterators interface
using	iterator = typename vec_t::iterator
using	const_iterator = typename vec_t::const_iterator
iterator	begin ()
iterator	end ()
const_iterator	begin () const
const_iterator	end () const
const_iterator	cbegin () const
const_iterator	cend () const

Initialization methods
void	fill (const T &val)
void	setConstant (const T value)
void	setConstant (size_t nrows, size_t ncols, const T value)
void	setConstant (size_t nrows, const T value)
void	assign (const std::size_t N, const T value)
void	setZero ()
void	setZero (size_t nrows, size_t ncols)
void	setZero (size_t nrows)
static CMatrixDynamic< T >	Constant (const T value)
static CMatrixDynamic< T >	Constant (size_t nrows, size_t ncols, const T value)
static CMatrixDynamic< T >	Zero ()
static CMatrixDynamic< T >	Zero (size_t nrows, size_t ncols)

Member Typedef Documentation

const_iterator

template<class T>

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

Definition at line 74 of file CMatrixDynamic.h.

const_reference

template<class T>

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

Definition at line 58 of file CMatrixDynamic.h.

difference_type

template<class T>

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

Definition at line 60 of file CMatrixDynamic.h.

eigen_t

template<class T>

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

Definition at line 68 of file CMatrixDynamic.h.

Index

template<class T>

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

Definition at line 56 of file CMatrixDynamic.h.

iterator

template<class T>

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

Definition at line 73 of file CMatrixDynamic.h.

reference

template<class T>

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

Definition at line 57 of file CMatrixDynamic.h.

Scalar

template<class T>

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

Definition at line 55 of file CMatrixDynamic.h.

size_type

template<class T>

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

Definition at line 59 of file CMatrixDynamic.h.

value_type

template<class T>

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

The type of the matrix elements.

Definition at line 54 of file CMatrixDynamic.h.

vec_t

template<class T>

using mrpt::math::CMatrixDynamic< T >::vec_t = mrpt::containers::vector_with_small_size_optimization< T, small_size, MRPT_MAX_STATIC_ALIGN_BYTES>

private

Definition at line 44 of file CMatrixDynamic.h.

Constructor & Destructor Documentation

CMatrixDynamic() [1/11]

template<class T>

mrpt::math::CMatrixDynamic< T >::CMatrixDynamic ( const CMatrixDynamic< T > &  m )

inline

Constructors.

Definition at line 149 of file CMatrixDynamic.h.

CMatrixDynamic() [2/11]

template<class T>

mrpt::math::CMatrixDynamic< T >::CMatrixDynamic ( size_t  row = 0, size_t  col = 0  )

inline

Definition at line 151 of file CMatrixDynamic.h.

CMatrixDynamic() [3/11]

template<class T>

template<typename U >

mrpt::math::CMatrixDynamic< T >::CMatrixDynamic ( const CMatrixDynamic< U > &  m )

inlineexplicit

Copy (casting from if needed) from another matrix.

Definition at line 155 of file CMatrixDynamic.h.

CMatrixDynamic() [4/11]

template<class T>

template<class Derived >

mrpt::math::CMatrixDynamic< T >::CMatrixDynamic ( const Eigen::MatrixBase< Derived > &  m )

inlineexplicit

Convert from Eigen matrix.

Definition at line 162 of file CMatrixDynamic.h.

CMatrixDynamic() [5/11]

template<class T>

template<typename _Lhs , typename _Rhs , int Option>

mrpt::math::CMatrixDynamic< T >::CMatrixDynamic ( const Eigen::Product< _Lhs, _Rhs, Option > &  p )

inlineexplicit

Convert from Eigen product.

Definition at line 169 of file CMatrixDynamic.h.

CMatrixDynamic() [6/11]

template<class T>

template<typename Op , typename Lhs , typename Rhs >

mrpt::math::CMatrixDynamic< T >::CMatrixDynamic ( const Eigen::CwiseBinaryOp< Op, Lhs, Rhs > &  p )

inlineexplicit

Convert from Eigen binary op.

Definition at line 175 of file CMatrixDynamic.h.

CMatrixDynamic() [7/11]

template<class T>

mrpt::math::CMatrixDynamic< T >::CMatrixDynamic ( const CMatrixDynamic< T > &  m, const size_t  cropRowCount, const size_t  cropColCount  )

inline

Copy constructor & crop from another matrix.

Definition at line 182 of file CMatrixDynamic.h.

CMatrixDynamic() [8/11]

template<class T>

template<std::size_t ROWS, std::size_t COLS>

mrpt::math::CMatrixDynamic< T >::CMatrixDynamic ( const CMatrixFixed< T, ROWS, COLS > &  o )

inlineexplicit

Constructor from fixed-size matrix:

Definition at line 195 of file CMatrixDynamic.h.

CMatrixDynamic() [9/11]

template<class T>

template<typename V , size_t N>

mrpt::math::CMatrixDynamic< T >::CMatrixDynamic ( size_t  row, size_t  col, V(&)  theArray[N]  )

inline

Constructor from a given size and a C array.

The array length must match cols x row.

const double numbers[] = {
  1,2,3,
  4,5,6 };
CMatrixDouble   M(3,2, numbers);

Definition at line 210 of file CMatrixDynamic.h.

CMatrixDynamic() [10/11]

template<class T>

template<typename V >

mrpt::math::CMatrixDynamic< T >::CMatrixDynamic ( size_t  row, size_t  col, const V &  theVector  )

inline

Constructor from a given size and a STL container (std::vector, std::list,...) with the initial values.

The vector length must match cols x row.

Definition at line 232 of file CMatrixDynamic.h.

~CMatrixDynamic()

template<class T>

virtual mrpt::math::CMatrixDynamic< T >::~CMatrixDynamic ( )

virtualdefault

CMatrixDynamic() [11/11]

template<class T>

mrpt::math::CMatrixDynamic< T >::CMatrixDynamic ( CMatrixDynamic< T > &&  m )

inline

Move ctor.

Definition at line 325 of file CMatrixDynamic.h.

Member Function Documentation

appendCol()

template<class T>

template<typename VECTOR >

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

inline

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()

template<class T>

template<typename VECTOR >

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

inline

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]

auto mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::array ( )

inlineinherited

Definition at line 170 of file MatrixVectorBase.h.

array() [2/2]

auto mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::array ( ) const

inlineinherited

Definition at line 175 of file MatrixVectorBase.h.

asEigen() [1/2]

template<class T>

template<typename EIGEN_MATRIX = eigen_t, typename EIGEN_MAP = Eigen::Map< EIGEN_MATRIX, MRPT_MAX_ALIGN_BYTES, Eigen::InnerStride<1>>>

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

inline

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

Definition at line 540 of file CMatrixDynamic.h.

Referenced by mrpt::poses::CPosePDFGaussianInf::bayesianFusion(), mrpt::vision::build_linear_system(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::cast_double(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::cast_float(), Pose3DTests::check_jacob_expe_e_at_0(), Pose3DTests::check_jacob_LnT_T(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::slam::data_association_full_covariance(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::poses::CPosePDFSOG::getMostLikelyCovarianceAndMean(), mrpt::obs::CObservation3DRangeScan::getZoneAsObs(), mrpt::slam::CICP::ICP_Method_LM(), mrpt::math::idft2_complex(), mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), mrpt::math::MATLAB_plotCovariance2D(), mrpt::poses::CPosePDFSOG::mergeModes(), op_dense_multiply_AB(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::operator*(), mrpt::vision::projectMatchedFeatures(), TEST(), Pose3DQuatTests::test_composePointJacob(), Pose3DTests::test_Jacob_dAexpeD_de(), Pose3DTests::test_Jacob_dDexpe_de(), Pose3DTests::test_Jacob_dexpeD_de(), and SE_traits_tests< POSE_TYPE >::test_jacobs_DinvP1InvP2().

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asEigen() [2/2]

template<class T>

template<typename EIGEN_MATRIX = eigen_t, typename EIGEN_MAP = Eigen::Map< const EIGEN_MATRIX, MRPT_MAX_ALIGN_BYTES, Eigen::InnerStride<1>>>

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

inline

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()

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

inlineinherited

Definition at line 106 of file MatrixVectorBase.h.

asString()

std::string mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::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.

asVector()

template<class T>

template<typename VECTOR >

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

inline

Returns a vector containing the matrix's values.

Definition at line 528 of file CMatrixDynamic.h.

begin() [1/2]

template<class T>

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

inline

Definition at line 75 of file CMatrixDynamic.h.

Referenced by mrpt::obs::CObservation3DRangeScan::load(), and mrpt::obs::CObservation3DRangeScan::rangeImage_convertToExternalStorage().

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begin() [2/2]

template<class T>

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

inline

Definition at line 77 of file CMatrixDynamic.h.

block() [1/3]

auto mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::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.

block() [2/3]

auto mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::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]

auto mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::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]

CMatrixFixed<T , BLOCK_ROWS, BLOCK_COLS> mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::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.

blockCopy() [2/2]

CMatrixDynamic<T > mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::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()

template<typename T >

CMatrixDynamic< double > CMatrixDynamic::cast_double

(

)

const

Definition at line 26 of file CMatrixDynamic.cpp.

Referenced by mrpt::obs::CObservationImage::serializeFrom().

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cast_float()

template<typename T >

CMatrixDynamic< float > CMatrixDynamic::cast_float

(

)

const

Definition at line 19 of file CMatrixDynamic.cpp.

cbegin()

template<class T>

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

inline

Definition at line 79 of file CMatrixDynamic.h.

cend()

template<class T>

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

inline

Definition at line 80 of file CMatrixDynamic.h.

chol()

bool mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::chol ( CMatrixDynamic< T > &  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.

coeff()

const T & mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::coeff ( int  r, int  c  ) const

inlineinherited

Definition at line 244 of file MatrixVectorBase.h.

coeffRef()

T & mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::coeffRef ( int  r, int  c  )

inlineinherited

Definition at line 243 of file MatrixVectorBase.h.

col() [1/2]

auto mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::col ( int  colIdx )

inlineinherited

Definition at line 89 of file MatrixBase.h.

Referenced by mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::CMatrixDynamic(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::conservativeResize(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::operator()(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::realloc(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::resize(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::setCol(), and mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::setSize().

col() [2/2]

auto mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::col ( int  colIdx ) const

inlineinherited

Definition at line 94 of file MatrixBase.h.

cols()

template<class T>

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

inline

Number of columns in the matrix.

See also

rows()

Definition at line 340 of file CMatrixDynamic.h.

Referenced by mrpt::bayes::detail::addNewLandmarks(), mrpt::opengl::CMeshFast::assignImageAndZ(), mrpt::opengl::CMesh::assignImageAndZ(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::detectors::CFaceDetection::checkIfFaceRegions(), mrpt::opengl::CVectorField2D::cols(), mrpt::opengl::CVectorField3D::cols(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::computeDominantEigenVector(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::obs::detail::cost_func(), mrpt::poses::CPose3D::CPose3D(), mrpt::math::cross_correlation_FFT(), mrpt::slam::data_association_full_covariance(), mrpt::slam::data_association_independent_predictions(), mrpt::math::dft2_complex(), mrpt::math::dft2_real(), mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::obs::CObservation2DRangeScanWithUncertainty::evaluateScanLikelihood(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::maps::CRandomFieldGridMap2D::exist_relation_between2cells(), mrpt::poses::CPoint< CPoint3D, 3 >::fromString(), mrpt::math::TTwist2D::fromString(), mrpt::math::TPose3DQuat::fromString(), mrpt::math::TPose2D::fromString(), mrpt::math::TTwist3D::fromString(), mrpt::math::TPoint2D_< double >::fromString(), mrpt::math::TPose3D::fromString(), mrpt::math::TPoint3D_< float >::fromString(), mrpt::poses::CPose3DQuat::fromString(), mrpt::poses::CPose2D::fromString(), mrpt::poses::CPose3D::fromString(), mrpt::vision::generateMask(), mrpt::img::CImage::getAsMatrix(), mrpt::img::CImage::getAsMatrixTiled(), mrpt::img::CImage::getAsRGBMatrices(), mrpt::opengl::CVectorField3D::getBoundingBox(), mrpt::apps::MonteCarloLocalization_Base::getGroundTruth(), mrpt::math::idft2_complex(), mrpt::math::idft2_real(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::vision::CFeature::internal_distanceBetweenPolarImages(), mrpt::nav::PlannerTPS_VirtualBase::internal_loadConfig_PTG(), mrpt::obs::CObservation3DRangeScan::load(), mrpt::poses::CPoseInterpolatorBase< 3 >::loadFromTextFile(), mrpt::math::mahalanobisDistance2(), mrpt::math::mahalanobisDistance2AndLogPDF(), mrpt::math::MATLAB_plotCovariance2D(), mempool_donate_range_matrix(), myGeneralDFT(), mrpt::vision::normalizeImage(), mrpt::math::normalPDF(), mrpt::opengl::CVectorField3D::onUpdateBuffers_Points(), mrpt::opengl::CVectorField3D::onUpdateBuffers_Wireframe(), mrpt::math::operator>>(), mrpt::topography::path_from_rtk_gps(), mrpt::apps::MonteCarloLocalization_Base::prepareGT(), mrpt::slam::CRangeBearingKFSLAM::processActionObservation(), mrpt::obs::detail::range2XYZ_LUT(), mrpt::obs::CObservation3DRangeScan::rangeImage_convertToExternalStorage(), mrpt::obs::CObservation3DRangeScan::rangeImageAsImage(), mrpt::math::ransac2Dline_distance(), mrpt::math::ransac3Dplane_distance(), mrpt::obs::CObservation3DRangeScan::recoverCameraCalibrationParameters(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::apps::KFSLAMApp::Run_KF_SLAM(), mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration(), mrpt::math::CMatrixB::serializeFrom(), mrpt::obs::CObservationImage::serializeFrom(), mrpt::math::CMatrixB::serializeTo(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::setFromMatrixLike(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::setRow(), mrpt::opengl::CVectorField2D::setVectorField(), mrpt::opengl::CVectorField3D::setVectorField(), TEST(), mrpt::obs::CObservation3DRangeScan::undistort(), and mrpt::obs::detail::unprojectInto().

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conservativeResize()

template<class T>

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

inline

Definition at line 370 of file CMatrixDynamic.h.

Constant() [1/2]

static CMatrixDynamic< T > mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::Constant ( const T  value )

inlinestaticinherited

Definition at line 89 of file MatrixVectorBase.h.

Constant() [2/2]

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

inlinestaticinherited

Definition at line 99 of file MatrixVectorBase.h.

data() [1/2]

template<class T>

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

inline

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.

Referenced by mrpt::obs::CObservation3DRangeScan::load(), mrpt::obs::CObservation3DRangeScan::rangeImage_convertToExternalStorage(), and mrpt::obs::CObservation3DRangeScan::undistort().

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data() [2/2]

template<class T>

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

inline

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]

template<class T>

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

inline

Definition at line 368 of file CMatrixDynamic.h.

derived() [2/2]

template<class T>

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

inline

Definition at line 369 of file CMatrixDynamic.h.

det()

T mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::det ( ) const

inherited

Determinant of matrix.

Definition at line 76 of file MatrixBase_impl.h.

Referenced by mrpt::slam::joint_pdf_metric(), and mrpt::math::productIntegralTwoGaussians().

dot() [1/2]

T mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::dot ( const CVectorDynamic< T > &  v ) const

inherited

dot product of this \cdot v

Definition at line 511 of file MatrixVectorBase_impl.h.

dot() [2/2]

T mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::dot ( const MatrixVectorBase< T , CMatrixDynamic< T > > &  v ) const

inherited

Definition at line 524 of file MatrixVectorBase_impl.h.

eig()

bool mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::eig ( CMatrixDynamic< T > &  eVecs, std::vector< T > &  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.

eig_symmetric()

bool mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::eig_symmetric ( CMatrixDynamic< T > &  eVecs, std::vector< T > &  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.

empty()

bool mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::empty ( ) const

inlineinherited

returns true if matrix/vector has size=0

Definition at line 260 of file MatrixVectorBase.h.

end() [1/2]

template<class T>

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

inline

Definition at line 76 of file CMatrixDynamic.h.

end() [2/2]

template<class T>

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

inline

Definition at line 78 of file CMatrixDynamic.h.

extractColumn() [1/2]

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

inlineinherited

Definition at line 128 of file MatrixBase.h.

extractColumn() [2/2]

VECTOR_LIKE mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::extractColumn ( int  colIdx ) const

inlineinherited

Definition at line 136 of file MatrixBase.h.

extractMatrix() [1/2]

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

inlineinherited

Definition at line 247 of file MatrixBase.h.

extractMatrix() [2/2]

CMatrixDynamic<T > mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::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]

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

inlineinherited

Definition at line 112 of file MatrixBase.h.

extractRow() [2/2]

VECTOR_LIKE mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::extractRow ( int  rowIdx ) const

inlineinherited

Definition at line 120 of file MatrixBase.h.

fill()

void mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::fill ( const T &  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.

fromMatlabStringFormat()

bool mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::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::math::TPoint2D_< double >::fromString(), and mrpt::math::TPoint3D_< float >::fromString().

head()

CMatrixFixed<T , N, 1> mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::head ( ) const

inlineinherited

Definition at line 232 of file MatrixVectorBase.h.

Identity() [1/2]

static CMatrixDynamic< T > mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::Identity ( )

inlinestaticinherited

Definition at line 64 of file MatrixBase.h.

Referenced by TEST().

Identity() [2/2]

static CMatrixDynamic< T > mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::Identity ( const std::size_t  N )

inlinestaticinherited

Definition at line 74 of file MatrixBase.h.

inMatlabFormat()

std::string mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::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.

insertMatrix()

void mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::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.

insertMatrixTransposed()

void mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::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()

CMatrixDynamic< T > mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::inverse ( ) const

inherited

Returns the inverse of a general matrix using LU.

Definition at line 183 of file MatrixBase_impl.h.

inverse_LLt()

CMatrixDynamic< T > mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::inverse_LLt ( ) const

inherited

Returns the inverse of a symmetric matrix using LLt.

Definition at line 195 of file MatrixBase_impl.h.

Referenced by mrpt::slam::joint_pdf_metric(), mrpt::math::leastSquareLinearFit(), and mrpt::math::productIntegralTwoGaussians().

isSquare()

bool mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::isSquare ( ) const

inlineinherited

returns true if matrix is NxN

Definition at line 257 of file MatrixVectorBase.h.

llt_solve()

template<typename T >

CVectorDynamic< T > CMatrixDynamic::llt_solve

(

const CVectorDynamic< Scalar > &

b

)

const

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]

void mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::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.

loadFromTextFile() [2/2]

void mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::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()

template<typename T >

CVectorDynamic< T > CMatrixDynamic::lu_solve

(

const CVectorDynamic< Scalar > &

b

)

const

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()

void mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::matProductOf_AAt ( const MAT_A &  A )

inlineinherited

this = A * A^T

Definition at line 276 of file MatrixBase.h.

Referenced by mrpt::math::leastSquareLinearFit().

matProductOf_AB()

void mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::matProductOf_AB ( const CMatrixDynamic< T > &  A, const CMatrixDynamic< T > &  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.

matProductOf_Ab()

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

inherited

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

Definition at line 485 of file MatrixVectorBase_impl.h.

Referenced by mrpt::math::leastSquareLinearFit().

matProductOf_AtA()

void mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::matProductOf_AtA ( const MAT_A &  A )

inlineinherited

this = A^T * A

Definition at line 295 of file MatrixBase.h.

matProductOf_Atb()

void mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::matProductOf_Atb ( const CMatrixDynamic< T > &  A, const CVectorDynamic< T > &  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]

T mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::maxCoeff ( ) const

inherited

Maximum value in the matrix/vector.

Definition at line 363 of file MatrixVectorBase_impl.h.

maxCoeff() [2/3]

T mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::maxCoeff ( std::size_t &  outIndexOfMax ) const

inherited

Definition at line 384 of file MatrixVectorBase_impl.h.

maxCoeff() [3/3]

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

inherited

Definition at line 409 of file MatrixVectorBase_impl.h.

maximumDiagonal()

T mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::maximumDiagonal ( ) const

inherited

Returns the maximum value in the diagonal.

Definition at line 207 of file MatrixBase_impl.h.

mbDerived() [1/2]

CMatrixDynamic< T > & mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::mbDerived ( )

inlineinherited

Definition at line 26 of file MatrixBase.h.

mbDerived() [2/2]

const CMatrixDynamic< T > & mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::mbDerived ( ) const

inlineinherited

Definition at line 27 of file MatrixBase.h.

minCoeff() [1/3]

T mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::minCoeff ( ) const

inherited

Minimum value in the matrix/vector.

Definition at line 357 of file MatrixVectorBase_impl.h.

minCoeff() [2/3]

T mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::minCoeff ( std::size_t &  outIndexOfMin ) const

inherited

Definition at line 369 of file MatrixVectorBase_impl.h.

minCoeff() [3/3]

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

inherited

Definition at line 398 of file MatrixVectorBase_impl.h.

minimumDiagonal()

T mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::minimumDiagonal ( ) const

inherited

Returns the minimum value in the diagonal.

Definition at line 213 of file MatrixBase_impl.h.

mvbDerived() [1/2]

CMatrixDynamic< T > & mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::mvbDerived ( )

inlineinherited

Definition at line 59 of file MatrixVectorBase.h.

mvbDerived() [2/2]

const CMatrixDynamic< T > & mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::mvbDerived ( ) const

inlineinherited

Definition at line 60 of file MatrixVectorBase.h.

norm()

T mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::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()

T mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::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!=()

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

inlineinherited

Definition at line 432 of file MatrixVectorBase.h.

operator()() [1/2]

template<class T>

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

inline

Subscript operator to get/set individual elements.

Definition at line 389 of file CMatrixDynamic.h.

operator()() [2/2]

template<class T>

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

inline

Subscript operator to get individual elements.

Definition at line 405 of file CMatrixDynamic.h.

operator*() [1/4]

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

inlineinherited

Definition at line 214 of file MatrixVectorBase.h.

operator*() [2/4]

auto mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::operator* ( const T  s ) const

inlineinherited

Definition at line 219 of file MatrixVectorBase.h.

operator*() [3/4]

CMatrixDynamic< T > mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::operator* ( const CMatrixDynamic< T > &  v )

inherited

Definition at line 438 of file MatrixVectorBase_impl.h.

operator*() [4/4]

CMatrixDynamic< T > mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::operator* ( const CMatrixDynamic< T > &  m2 ) const

inherited

Definition at line 470 of file MatrixVectorBase_impl.h.

operator*=()

void mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::operator*= ( T  s )

inherited

Definition at line 432 of file MatrixVectorBase_impl.h.

operator+() [1/2]

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

inlineinherited

Definition at line 188 of file MatrixVectorBase.h.

operator+() [2/2]

CMatrixDynamic< T > mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::operator+ ( const CMatrixDynamic< T > &  m2 ) const

inlineinherited

Definition at line 279 of file MatrixVectorBase.h.

operator+=() [1/3]

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

inlineinherited

Definition at line 194 of file MatrixVectorBase.h.

operator+=() [2/3]

void mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::operator+= ( T  s )

inherited

Definition at line 420 of file MatrixVectorBase_impl.h.

operator+=() [3/3]

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

inlineinherited

Definition at line 294 of file MatrixVectorBase.h.

operator-() [1/3]

auto mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::operator- ( ) const

inlineinherited

Definition at line 181 of file MatrixVectorBase.h.

operator-() [2/3]

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

inlineinherited

Definition at line 201 of file MatrixVectorBase.h.

operator-() [3/3]

CMatrixDynamic< T > mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::operator- ( const CMatrixDynamic< T > &  m2 ) const

inlineinherited

Definition at line 309 of file MatrixVectorBase.h.

operator-=() [1/3]

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

inlineinherited

Definition at line 207 of file MatrixVectorBase.h.

operator-=() [2/3]

void mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::operator-= ( T  s )

inherited

Definition at line 426 of file MatrixVectorBase_impl.h.

operator-=() [3/3]

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

inlineinherited

Definition at line 324 of file MatrixVectorBase.h.

operator=() [1/6]

template<class T>

CMatrixDynamic& mrpt::math::CMatrixDynamic< T >::operator= ( const CMatrixDynamic< T > &  m )

default

Referenced by mrpt::math::CMatrixB::operator=(), and mrpt::math::CMatrixF::operator=().

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operator=() [2/6]

template<class T>

template<typename U >

CMatrixDynamic& mrpt::math::CMatrixDynamic< T >::operator= ( const CMatrixDynamic< U > &  m )

inline

Assignment operator from another matrix (possibly of a different type)

Definition at line 267 of file CMatrixDynamic.h.

operator=() [3/6]

template<class T>

template<class Derived >

CMatrixDynamic& mrpt::math::CMatrixDynamic< T >::operator= ( const Eigen::MatrixBase< Derived > &  m )

inline

Assignment from an Eigen matrix.

Definition at line 277 of file CMatrixDynamic.h.

operator=() [4/6]

template<class T>

template<std::size_t ROWS, std::size_t COLS>

CMatrixDynamic& mrpt::math::CMatrixDynamic< T >::operator= ( const CMatrixFixed< T, ROWS, COLS > &  m )

inline

Assignment from a fixed matrix.

Definition at line 286 of file CMatrixDynamic.h.

operator=() [5/6]

template<class T>

template<typename V , size_t N>

CMatrixDynamic& mrpt::math::CMatrixDynamic< T >::operator= ( V(&)  theArray[N] )

inline

Assignment operator for initializing from a C array (The matrix must be set to the correct size before invoking this asignament)

   CMatrixDouble   M(3,2);
const double numbers[] = {
  1,2,3,
  4,5,6 };
M = numbers;

Refer also to the constructor with initialization data CMatrixDynamic::CMatrixDynamic

Definition at line 307 of file CMatrixDynamic.h.

operator=() [6/6]

template<class T>

CMatrixDynamic& mrpt::math::CMatrixDynamic< T >::operator= ( CMatrixDynamic< T > &&  m )

inline

Move operator.

Definition at line 328 of file CMatrixDynamic.h.

operator==()

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

inlineinherited

Definition at line 422 of file MatrixVectorBase.h.

operator[]() [1/2]

template<class T>

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

inline

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]

template<class T>

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

inline

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()

int mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::rank ( T  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.

realloc()

template<class T>

void mrpt::math::CMatrixDynamic< T >::realloc ( size_t  row, size_t  col, bool  newElementsToZero = false  )

inlineprivate

Internal use only: It reallocs the memory for the 2D matrix, maintaining the previous contents if posible.

Definition at line 87 of file CMatrixDynamic.h.

Referenced by mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::appendCol(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::appendRow(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::CMatrixDynamic(), and mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::setSize().

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removeColumns()

void mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::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()

void mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::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]

template<class T>

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

inline

Definition at line 356 of file CMatrixDynamic.h.

Referenced by mrpt::opengl::CVectorField2D::clear(), mrpt::opengl::CVectorField3D::clear(), mrpt::random::CRandomGenerator::drawDefinitePositiveMatrix(), mrpt::ros1bridge::fromROS(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::vision::CDifodo::getDepthDerivatives(), mrpt::vision::CFeature::getFirstDescriptorAsMatrix(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::vision::CDifodo::getPointsCoord(), mrpt::vision::CDifodo::getWeights(), mrpt::math::leastSquareLinearFit(), mrpt::opengl::CMesh3D::loadMesh(), mrpt::vision::normalizeImage(), mrpt::opengl::CVectorField2D::resize(), and mrpt::opengl::CVectorField3D::resize().

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resize() [2/3]

template<class T>

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

inline

Resizes as a Nx1 vector.

Definition at line 359 of file CMatrixDynamic.h.

resize() [3/3]

template<class T>

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

inline

Resize the matrix.

Definition at line 362 of file CMatrixDynamic.h.

row() [1/2]

auto mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::row ( int  rowIdx )

inlineinherited

Definition at line 100 of file MatrixBase.h.

Referenced by mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::appendRow(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::CMatrixDynamic(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::conservativeResize(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::operator()(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::realloc(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::resize(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::setRow(), and mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::setSize().

row() [2/2]

auto mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::row ( int  rowIdx ) const

inlineinherited

Definition at line 105 of file MatrixBase.h.

rows()

template<class T>

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

inline

Number of rows in the matrix.

See also

rows()

Definition at line 337 of file CMatrixDynamic.h.

Referenced by mrpt::bayes::detail::addNewLandmarks(), mrpt::opengl::CMeshFast::assignImageAndZ(), mrpt::opengl::CMesh::assignImageAndZ(), mrpt::detectors::CFaceDetection::checkIfFaceRegions(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::obs::detail::cost_func(), mrpt::poses::CPose3D::CPose3D(), mrpt::math::cross_correlation_FFT(), mrpt::slam::data_association_full_covariance(), mrpt::slam::data_association_independent_predictions(), mrpt::math::dft2_complex(), mrpt::math::dft2_real(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), kfslam_traits< CRangeBearingKFSLAM >::doPartitioningExperiment(), mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::obs::CObservation2DRangeScanWithUncertainty::evaluateScanLikelihood(), mrpt::math::RANSAC_Template< NUMTYPE >::execute(), mrpt::maps::CRandomFieldGridMap2D::exist_relation_between2cells(), mrpt::poses::CPoint< CPoint3D, 3 >::fromString(), mrpt::math::TTwist2D::fromString(), mrpt::math::TPose3DQuat::fromString(), mrpt::math::TPose2D::fromString(), mrpt::math::TTwist3D::fromString(), mrpt::math::TPoint2D_< double >::fromString(), mrpt::math::TPose3D::fromString(), mrpt::math::TPoint3D_< float >::fromString(), mrpt::poses::CPose3DQuat::fromString(), mrpt::poses::CPose2D::fromString(), mrpt::poses::CPose3D::fromString(), mrpt::vision::generateMask(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generatePWConsistenciesMatrix(), mrpt::img::CImage::getAsMatrix(), mrpt::img::CImage::getAsMatrixTiled(), mrpt::img::CImage::getAsRGBMatrices(), mrpt::opengl::CVectorField3D::getBoundingBox(), mrpt::apps::MonteCarloLocalization_Base::getGroundTruth(), mrpt::math::idft2_complex(), mrpt::math::idft2_real(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::vision::CFeature::internal_distanceBetweenPolarImages(), mrpt::nav::PlannerTPS_VirtualBase::internal_loadConfig_PTG(), mrpt::obs::CObservation3DRangeScan::load(), mrpt::poses::CPoseInterpolatorBase< 3 >::loadFromTextFile(), mrpt::math::MATLAB_plotCovariance2D(), mempool_donate_range_matrix(), myGeneralDFT(), mrpt::vision::normalizeImage(), mrpt::opengl::CVectorField3D::onUpdateBuffers_Points(), mrpt::opengl::CVectorField3D::onUpdateBuffers_Wireframe(), mrpt::math::operator>>(), mrpt::topography::path_from_rtk_gps(), mrpt::apps::MonteCarloLocalization_Base::prepareGT(), mrpt::obs::detail::range2XYZ_LUT(), mrpt::obs::CObservation3DRangeScan::rangeImage_convertToExternalStorage(), mrpt::obs::CObservation3DRangeScan::rangeImageAsImage(), mrpt::math::ransac3Dplane_distance(), mrpt::obs::CObservation3DRangeScan::recoverCameraCalibrationParameters(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::opengl::CVectorField2D::rows(), mrpt::opengl::CVectorField3D::rows(), mrpt::apps::KFSLAMApp::Run_KF_SLAM(), mrpt::math::CMatrixB::serializeFrom(), mrpt::obs::CObservationImage::serializeFrom(), mrpt::obs::CObservation3DRangeScan::serializeFrom(), mrpt::math::CMatrixB::serializeTo(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::setCol(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::setFromMatrixLike(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CVectorField2D::setVectorField(), mrpt::opengl::CVectorField3D::setVectorField(), TEST(), mrpt::obs::CObservation3DRangeScan::undistort(), and mrpt::obs::detail::unprojectInto().

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saveToTextFile()

void mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::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.

setCol()

template<class T>

template<typename VECTOR >

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

inline

Definition at line 496 of file CMatrixDynamic.h.

setConstant() [1/3]

void mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::setConstant ( const T  value )

inlineinherited

Definition at line 75 of file MatrixVectorBase.h.

setConstant() [2/3]

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

inlineinherited

Definition at line 76 of file MatrixVectorBase.h.

setConstant() [3/3]

void mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::setConstant ( size_t  nrows, const T  value  )

inlineinherited

Definition at line 81 of file MatrixVectorBase.h.

setDiagonal() [1/3]

void mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::setDiagonal ( const std::size_t  N, const T  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.

setDiagonal() [2/3]

void mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::setDiagonal ( const T  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]

void mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::setDiagonal ( const std::vector< T > &  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()

template<class T>

template<class MAT >

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

inline

Definition at line 252 of file CMatrixDynamic.h.

Referenced by mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::operator=().

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setIdentity() [1/2]

void mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::setIdentity ( )

inlineinherited

Definition at line 57 of file MatrixBase.h.

setIdentity() [2/2]

void mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::setIdentity ( const std::size_t  N )

inlineinherited

Definition at line 62 of file MatrixBase.h.

setRow()

template<class T>

template<typename VECTOR >

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

inline

Definition at line 489 of file CMatrixDynamic.h.

Referenced by mrpt::obs::CObservation3DRangeScan::points3D_convertToExternalStorage(), and mrpt::math::ransac_detect_2D_lines().

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setSize()

template<class T>

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

inline

Changes the size of matrix, maintaining the previous contents.

Definition at line 352 of file CMatrixDynamic.h.

Referenced by mrpt::bayes::detail::addNewLandmarks(), mrpt::detectors::CFaceDetection::checkIfDiagonalSurface(), mrpt::detectors::CFaceDetection::checkIfFaceRegions(), mrpt::slam::TDataAssociationResults::clear(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::conservativeResize(), mrpt::math::cross_correlation_FFT(), mrpt::img::CImage::cross_correlation_FFT(), mrpt::math::dft2_complex(), mrpt::math::dft2_real(), mrpt::poses::CPointPDFSOG::evaluatePDFInArea(), mrpt::poses::CPosePDFSOG::evaluatePDFInArea(), mrpt::math::RANSAC_Template< NUMTYPE >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::detectors::CFaceDetection::experimental_segmentFace(), mrpt::hwdrivers::CRoboticHeadInterface::Get3SoundBuffer(), mrpt::maps::CHeightGridMap2D::getAs3DObject(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getAsDense(), mrpt::img::CImage::getAsMatrix(), mrpt::img::CImage::getAsRGBMatrices(), mrpt::poses::CPose3DPDFGaussian::getCovSubmatrix2D(), mrpt::vision::CFeature::getFirstDescriptorAsMatrix(), mrpt::poses::CPose3DPDFGaussianInf::getInvCovSubmatrix2D(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::slam::CICP::ICP_Method_LM(), mrpt::math::idft2_complex(), mrpt::math::idft2_real(), mrpt::maps::CBeaconMap::internal_insertObservation(), myGeneralDFT(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation(), mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation(), mrpt::topography::path_from_rtk_gps(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::math::ransac2Dline_fit(), mrpt::math::ransac3Dplane_fit(), mrpt::slam::CRangeBearingKFSLAM2D::reset(), mrpt::slam::CRangeBearingKFSLAM::reset(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::resize(), mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration(), mrpt::math::CMatrixB::serializeFrom(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::setFromMatrixLike(), and TEST().

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setZero() [1/3]

void mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::setZero ( )

inlineinherited

Definition at line 112 of file MatrixVectorBase.h.

setZero() [2/3]

void mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::setZero ( size_t  nrows, size_t  ncols  )

inlineinherited

Definition at line 113 of file MatrixVectorBase.h.

setZero() [3/3]

void mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::setZero ( size_t  nrows )

inlineinherited

Definition at line 117 of file MatrixVectorBase.h.

size()

template<class T>

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

inline

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

Definition at line 343 of file CMatrixDynamic.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::computeDominantEigenVector(), mrpt::vision::CFeature::getFirstDescriptorAsMatrix(), mrpt::math::leastSquareLinearFit(), mrpt::obs::CObservation3DRangeScan::load(), mrpt::opengl::CVectorField3D::onUpdateBuffers_Points(), mrpt::opengl::CVectorField3D::onUpdateBuffers_Wireframe(), and mrpt::obs::CObservation3DRangeScan::rangeImage_convertToExternalStorage().

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sum()

T mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::sum ( ) const

inherited

Sum of all elements in matrix/vector.

Definition at line 345 of file MatrixVectorBase_impl.h.

sum_abs()

T mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::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()

template<class T>

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

inline

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

Definition at line 141 of file CMatrixDynamic.h.

Referenced by mempool_donate_range_matrix().

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tail()

CMatrixFixed<T , N, 1> mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::tail ( ) const

inlineinherited

Definition at line 226 of file MatrixVectorBase.h.

trace()

T mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::trace ( ) const

inherited

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

Definition at line 219 of file MatrixBase_impl.h.

transpose() [1/2]

auto mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::transpose ( )

inlineinherited

Definition at line 159 of file MatrixVectorBase.h.

transpose() [2/2]

auto mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::transpose ( ) const

inlineinherited

Definition at line 164 of file MatrixVectorBase.h.

unsafeRemoveColumns()

void mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::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()

void mrpt::math::MatrixBase< T , CMatrixDynamic< T > >::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.

Zero() [1/2]

static CMatrixDynamic< T > mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::Zero ( )

inlinestaticinherited

Definition at line 125 of file MatrixVectorBase.h.

Zero() [2/2]

static CMatrixDynamic< T > mrpt::math::MatrixVectorBase< T , CMatrixDynamic< T > >::Zero ( size_t  nrows, size_t  ncols  )

inlinestaticinherited

Definition at line 126 of file MatrixVectorBase.h.

Member Data Documentation

ColsAtCompileTime

template<class T>

constexpr int mrpt::math::CMatrixDynamic< T >::ColsAtCompileTime = -1

static

Definition at line 62 of file CMatrixDynamic.h.

is_mrpt_type

template<class T>

constexpr int mrpt::math::CMatrixDynamic< T >::is_mrpt_type = 1

static

Definition at line 64 of file CMatrixDynamic.h.

m_Cols

template<class T>

size_t mrpt::math::CMatrixDynamic< T >::m_Cols {0}

private

Definition at line 48 of file CMatrixDynamic.h.

Referenced by mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::appendCol(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::appendRow(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::asEigen(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::asVector(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::CMatrixDynamic(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::cols(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::operator()(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::operator=(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::operator[](), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::realloc(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::size(), and mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::swap().

m_data

template<class T>

vec_t mrpt::math::CMatrixDynamic< T >::m_data

private

RowMajor matrix data.

Definition at line 47 of file CMatrixDynamic.h.

Referenced by mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::asEigen(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::asVector(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::begin(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::cbegin(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::cend(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::data(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::end(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::operator()(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::operator=(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::operator[](), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::realloc(), and mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::swap().

m_Rows

template<class T>

size_t mrpt::math::CMatrixDynamic< T >::m_Rows {0}

private

Definition at line 48 of file CMatrixDynamic.h.

Referenced by mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::appendCol(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::appendRow(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::asEigen(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::asVector(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::CMatrixDynamic(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::operator()(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::operator=(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::operator[](), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::realloc(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::rows(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::size(), and mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::swap().

RowsAtCompileTime

template<class T>

constexpr int mrpt::math::CMatrixDynamic< T >::RowsAtCompileTime = -1

static

Definition at line 61 of file CMatrixDynamic.h.

SizeAtCompileTime

template<class T>

constexpr int mrpt::math::CMatrixDynamic< T >::SizeAtCompileTime = -1

static

Definition at line 63 of file CMatrixDynamic.h.

small_size

template<class T>

constexpr size_t mrpt::math::CMatrixDynamic< T >::small_size = 16

staticprivate

Definition at line 42 of file CMatrixDynamic.h.

StorageOrder

template<class T>

constexpr int mrpt::math::CMatrixDynamic< T >::StorageOrder = 1

static

Definition at line 65 of file CMatrixDynamic.h.