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mrpt::math::CMatrix Class Reference

Detailed Description

This class is a "CSerializable" wrapper for "CMatrixFloat".

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

Definition at line 25 of file CMatrix.h.

#include <mrpt/math/CMatrix.h>

Inheritance diagram for mrpt::math::CMatrix:
Inheritance graph

Public Types

typedef Eigen::Matrix< T,
Eigen::Dynamic, Eigen::Dynamic,
Eigen::AutoAlign|Eigen::RowMajor > 
Base
 
typedef CMatrixTemplateNumeric< T > mrpt_autotype
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) noexcept
 
void operator delete[] (void *ptr) noexcept
 
void operator delete (void *memory, void *ptr) noexcept
 
voidoperator new (size_t size, const std::nothrow_t &) noexcept
 
void operator delete (void *ptr, const std::nothrow_t &) noexcept
 
 CMatrix ()
 Constructor. More...
 
 CMatrix (size_t row, size_t col)
 Constructor. More...
 
 CMatrix (const CMatrixFloat &m)
 Copy constructor. More...
 
 CMatrix (const CMatrixTemplateNumeric< double > &m)
 Copy constructor. More...
 
 CMatrix (const TPose2D &p)
 Constructor from a TPose2D, which generates a 3x1 matrix $ [x y \phi]^T $. More...
 
 CMatrix (const TPose3D &p)
 Constructor from a mrpt::poses::CPose6D, which generates a 6x1 matrix $ [x y z yaw pitch roll]^T $. More...
 
 CMatrix (const TPoint2D &p)
 Constructor from a TPoint2D, which generates a 2x1 matrix $ [x y]^T $. More...
 
 CMatrix (const TPoint3D &p)
 Constructor from a TPoint3D, which generates a 3x1 matrix $ [x y z]^T $. More...
 
template<class OTHERMAT >
CMatrixoperator= (const OTHERMAT &m)
 Assignment operator for float matrixes. More...
 
template<typename OtherDerived >
CMatrixoperator= (const Eigen::MatrixBase< OtherDerived > &other)
 
template<typename OtherDerived >
 CMatrix (const Eigen::MatrixBase< OtherDerived > &other)
 
virtual mxArraywriteToMatlab () 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...
 
RTTI classes and functions
mrpt::utils::CObject::Ptr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version) override
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 

RTTI stuff

using Ptr = std::shared_ptr< CMatrix >
 
using ConstPtr = std::shared_ptr< const CMatrix >
 
static mrpt::utils::CLASSINIT _init_CMatrix
 
static const
mrpt::utils::TRuntimeClassId 
runtimeClassId
 
static constexpr const char * className = "CMatrix"
 
static const
mrpt::utils::TRuntimeClassId
classinfo
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
static const
mrpt::utils::TRuntimeClassId
GetRuntimeClassIdStatic ()
 
static mrpt::utils::CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&...args)
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

template<class T>
typedef Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic, Eigen::AutoAlign | Eigen::RowMajor> mrpt::math::CMatrixTemplateNumeric< T >::Base
inherited

Definition at line 47 of file CMatrixTemplateNumeric.h.

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

Definition at line 27 of file CMatrix.h.

template<class T>
typedef CMatrixTemplateNumeric<T> mrpt::math::CMatrixTemplateNumeric< T >::mrpt_autotype
inherited

Definition at line 48 of file CMatrixTemplateNumeric.h.

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

A typedef for the associated smart pointer

Definition at line 27 of file CMatrix.h.

Constructor & Destructor Documentation

mrpt::math::CMatrix::CMatrix ( )
inline

Constructor.

Definition at line 31 of file CMatrix.h.

mrpt::math::CMatrix::CMatrix ( size_t  row,
size_t  col 
)
inline

Constructor.

Definition at line 33 of file CMatrix.h.

mrpt::math::CMatrix::CMatrix ( const CMatrixFloat m)
inline

Copy constructor.

Definition at line 36 of file CMatrix.h.

mrpt::math::CMatrix::CMatrix ( const CMatrixTemplateNumeric< double > &  m)
inline

Copy constructor.

Definition at line 39 of file CMatrix.h.

CMatrix::CMatrix ( const TPose2D p)
explicit

Constructor from a TPose2D, which generates a 3x1 matrix $ [x y \phi]^T $.

Definition at line 25 of file CMatrix.cpp.

CMatrix::CMatrix ( const TPose3D p)
explicit

Constructor from a mrpt::poses::CPose6D, which generates a 6x1 matrix $ [x y z yaw pitch roll]^T $.

Constructor from a mrpt::poses::CPose6D, which generates a 6x1 matrix $ [x y z yaw pitch roll]^T $.

Definition at line 28 of file CMatrix.cpp.

CMatrix::CMatrix ( const TPoint2D p)
explicit

Constructor from a TPoint2D, which generates a 2x1 matrix $ [x y]^T $.

Constructor from a TPoint2D, which generates a 2x1 matrix $ [x y]^T $.

Definition at line 30 of file CMatrix.cpp.

CMatrix::CMatrix ( const TPoint3D p)
explicit

Constructor from a TPoint3D, which generates a 3x1 matrix $ [x y z]^T $.

Constructor from a TPoint3D, which generates a 3x1 matrix $ [x y z]^T $.

Definition at line 33 of file CMatrix.cpp.

template<typename OtherDerived >
mrpt::math::CMatrix::CMatrix ( const Eigen::MatrixBase< OtherDerived > &  other)
inline

Constructor from any other Eigen class

Definition at line 75 of file CMatrix.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::math::CMatrix::_GetBaseClass ( )
staticprotected
virtual mrpt::utils::CObject* mrpt::math::CMatrix::clone ( ) const
overridevirtual

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

Implements mrpt::utils::CObject.

template<typename... Args>
static Ptr mrpt::math::CMatrix::Create ( Args &&...  args)
inlinestatic

Definition at line 27 of file CMatrix.h.

static mrpt::utils::CObject* mrpt::math::CMatrix::CreateObject ( )
static
virtual const mrpt::utils::TRuntimeClassId* mrpt::math::CMatrix::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

static const mrpt::utils::TRuntimeClassId& mrpt::math::CMatrix::GetRuntimeClassIdStatic ( )
static
void mrpt::math::CMatrix::operator delete ( void ptr)
inlinenoexcept

Definition at line 27 of file CMatrix.h.

void mrpt::math::CMatrix::operator delete ( void memory,
void ptr 
)
inlinenoexcept

Definition at line 27 of file CMatrix.h.

void mrpt::math::CMatrix::operator delete ( void ptr,
const std::nothrow_t &   
)
inlinenoexcept

Definition at line 27 of file CMatrix.h.

void mrpt::math::CMatrix::operator delete[] ( void ptr)
inlinenoexcept

Definition at line 27 of file CMatrix.h.

static void* mrpt::math::CMatrix::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 27 of file CMatrix.h.

void* mrpt::math::CMatrix::operator new ( size_t  size)
inline

Definition at line 27 of file CMatrix.h.

void* mrpt::math::CMatrix::operator new ( size_t  size,
const std::nothrow_t &   
)
inlinenoexcept

Definition at line 27 of file CMatrix.h.

void* mrpt::math::CMatrix::operator new[] ( size_t  size)
inline

Definition at line 27 of file CMatrix.h.

template<class OTHERMAT >
CMatrix& mrpt::math::CMatrix::operator= ( const OTHERMAT &  m)
inline

Assignment operator for float matrixes.

Definition at line 60 of file CMatrix.h.

template<typename OtherDerived >
CMatrix& mrpt::math::CMatrix::operator= ( const Eigen::MatrixBase< OtherDerived > &  other)
inline

Assignment operator from any other Eigen class

Definition at line 68 of file CMatrix.h.

void CMatrix::readFromStream ( mrpt::utils::CStream in,
int  version 
)
overrideprotectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 55 of file CMatrix.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::utils::CStream::ReadBufferFixEndianness(), and setSize().

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virtual mxArray* mrpt::utils::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 89 of file CSerializable.h.

void CMatrix::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
overrideprotectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 37 of file CMatrix.cpp.

References mrpt::utils::CStream::WriteBufferFixEndianness().

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Member Data Documentation

mrpt::utils::CLASSINIT mrpt::math::CMatrix::_init_CMatrix
staticprotected

Definition at line 27 of file CMatrix.h.

const mrpt::utils::TRuntimeClassId* mrpt::math::CMatrix::classinfo
static

Definition at line 27 of file CMatrix.h.

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

Definition at line 27 of file CMatrix.h.

const mrpt::utils::TRuntimeClassId mrpt::math::CMatrix::runtimeClassId
staticprotected

Definition at line 27 of file CMatrix.h.




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