MRPT  1.9.9
mrpt::math::MatrixBase< Scalar, Derived > Class Template Reference

Detailed Description

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

Base CRTP class for all MRPT matrices.

See MatrixVectorBase

See also
CMatrixFixed

Definition at line 23 of file MatrixBase.h.

#include <mrpt/math/MatrixBase.h>

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

Public Member Functions

Derived & mbDerived ()
 
const Derived & mbDerived () const
 
void setDiagonal (const std::size_t N, const Scalar value)
 Resize to NxN, set all entries to zero, except the main diagonal which is set to value More...
 
void setDiagonal (const Scalar value)
 Set all entries to zero, except the main diagonal which is set to value More...
 
void setDiagonal (const std::vector< Scalar > &diags)
 Resizes to NxN, with N the length of the input vector, set all entries to zero, except the main diagonal which is set to values in the vector. More...
 
void setIdentity ()
 
void setIdentity (const std::size_t N)
 
void matProductOf_AB (const Derived &A, const Derived &B)
 this = A*B, with A & B of the same type of this. More...
 
Derived & mvbDerived ()
 
const Derived & mvbDerived () const
 
Operations that DO require `#include <Eigen/Dense>` in user code
auto col (int colIdx)
 
auto col (int colIdx) const
 
auto row (int rowIdx)
 
auto row (int rowIdx) const
 
template<typename VECTOR_LIKE >
void extractRow (int rowIdx, VECTOR_LIKE &v) const
 
template<typename VECTOR_LIKE >
VECTOR_LIKE extractRow (int rowIdx) const
 
template<typename VECTOR_LIKE >
void extractColumn (int colIdx, VECTOR_LIKE &v) const
 
template<typename VECTOR_LIKE >
VECTOR_LIKE extractColumn (int colIdx) const
 
Standalone operations (do NOT require `#include <Eigen/Dense>`)
Scalar det () const
 Determinant of matrix. More...
 
Derived inverse () const
 Returns the inverse of a general matrix using LU. More...
 
Derived inverse_LLt () const
 Returns the inverse of a symmetric matrix using LLt. More...
 
int rank (Scalar threshold=0) const
 Finds the rank of the matrix via LU decomposition. More...
 
bool chol (Derived &U) const
 Cholesky M=UT * U decomposition for symmetric matrix (upper-half of the matrix is actually ignored. More...
 
bool eig (Derived &eVecs, std::vector< Scalar > &eVals, bool sorted=true) const
 Computes the eigenvectors and eigenvalues for a square, general matrix. More...
 
bool eig_symmetric (Derived &eVecs, std::vector< Scalar > &eVals, bool sorted=true) const
 Read: eig() More...
 
Scalar maximumDiagonal () const
 Returns the maximum value in the diagonal. More...
 
Scalar minimumDiagonal () const
 Returns the minimum value in the diagonal. More...
 
Scalar trace () const
 Returns the trace of the matrix (not necessarily square). More...
 
void unsafeRemoveColumns (const std::vector< std::size_t > &idxs)
 Removes columns of the matrix. More...
 
void removeColumns (const std::vector< std::size_t > &idxsToRemove)
 Removes columns of the matrix. More...
 
void unsafeRemoveRows (const std::vector< std::size_t > &idxs)
 Removes rows of the matrix. More...
 
void removeRows (const std::vector< std::size_t > &idxsToRemove)
 Removes rows of the matrix. More...
 
template<typename OTHERMATVEC >
void insertMatrix (const int row_start, const int col_start, const OTHERMATVEC &submat)
 Copies the given input submatrix/vector into this matrix/vector, starting at the given top-left coordinates. More...
 
template<typename OTHERMATVEC >
void insertMatrixTransposed (const int row_start, const int col_start, const OTHERMATVEC &submat)
 Like insertMatrix(), but inserts ‘submat’` (transposed) More...
 
template<int BLOCK_ROWS, int BLOCK_COLS>
CMatrixFixed< Scalar, BLOCK_ROWS, BLOCK_COLS > blockCopy (int start_row=0, int start_col=0) const
 const blockCopy(): Returns a copy of the given block More...
 
CMatrixDynamic< ScalarblockCopy (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< ScalarextractMatrix (const int BLOCK_ROWS, const int BLOCK_COLS, const int start_row, const int start_col) const
 
template<typename MAT_A >
void matProductOf_AAt (const MAT_A &A)
 this = A * AT More...
 
template<typename MAT_A >
void matProductOf_AtA (const MAT_A &A)
 this = AT * A More...
 
Operations that DO require `#include <Eigen/Dense>` in user code
template<int BLOCK_ROWS, int BLOCK_COLS>
auto block (int start_row, int start_col)
 non-const block(): Returns an Eigen::Block reference to the block More...
 
auto block (int start_row, int start_col, int BLOCK_ROWS, int BLOCK_COLS)
 
auto block (int start_row, int start_col, int BLOCK_ROWS, int BLOCK_COLS) const
 
auto transpose ()
 
auto transpose () const
 
auto array ()
 
auto array () const
 
auto operator- () const
 
template<typename S2 , class D2 >
auto operator- (const MatrixVectorBase< S2, D2 > &m2) const
 
template<typename S2 , class D2 >
auto operator+ (const MatrixVectorBase< S2, D2 > &m2) const
 
template<typename S2 , class D2 >
void operator+= (const MatrixVectorBase< S2, D2 > &m2)
 
template<typename S2 , class D2 >
void operator-= (const MatrixVectorBase< S2, D2 > &m2)
 
template<typename S2 , class D2 >
auto operator* (const MatrixVectorBase< S2, D2 > &m2) const
 
auto operator* (const Scalar s) const
 
template<int N>
CMatrixFixed< Scalar, N, 1 > tail () const
 
template<int N>
CMatrixFixed< Scalar, N, 1 > head () const
 
Standalone operations (do NOT require `#include <Eigen/Dense>`)
Derived operator- (const Derived &m2) const
 
Derived operator+ (const Derived &m2) const
 
void operator+= (Scalar s)
 
void operator+= (const Derived &m2)
 
void operator-= (Scalar s)
 
void operator-= (const Derived &m2)
 
CMatrixDynamic< Scalaroperator* (const CMatrixDynamic< Scalar > &v)
 
Derived operator* (const Derived &m2) const
 
ScalarcoeffRef (int r, int c)
 
const Scalarcoeff (int r, int c) const
 
Scalar minCoeff () const
 Minimum value in the matrix/vector. More...
 
Scalar minCoeff (std::size_t &outIndexOfMin) const
 
Scalar minCoeff (std::size_t &rowIdx, std::size_t &colIdx) const
 
Scalar maxCoeff () const
 Maximum value in the matrix/vector. More...
 
Scalar maxCoeff (std::size_t &outIndexOfMax) const
 
Scalar maxCoeff (std::size_t &rowIdx, std::size_t &colIdx) const
 
bool isSquare () const
 returns true if matrix is NxN More...
 
bool empty () const
 returns true if matrix/vector has size=0 More...
 
Scalar norm_inf () const
 Compute the norm-infinite of a vector ($f[ ||{v}||_ $f]), ie the maximum absolute value of the elements. More...
 
Scalar norm () const
 Compute the L2 norm of a vector/array/matrix (the Euclidean distance to the origin, taking all the elements as a single vector). More...
 
void operator*= (Scalar s)
 
Scalar dot (const CVectorDynamic< Scalar > &v) const
 dot product of this \cdot v More...
 
Scalar dot (const MatrixVectorBase< Scalar, Derived > &v) const
 
void matProductOf_Ab (const CMatrixDynamic< Scalar > &A, const CVectorDynamic< Scalar > &b)
 this = A * b , with A and b a dynamic matrix & vector More...
 
void matProductOf_Atb (const CMatrixDynamic< Scalar > &A, const CVectorDynamic< Scalar > &b)
 this = AT * b , with A and b a dynamic matrix & vector More...
 
Scalar sum () const
 Sum of all elements in matrix/vector. More...
 
Scalar sum_abs () const
 Sum of the absolute value of all elements in matrix/vector. More...
 
std::string asString () const
 Returns a string representation of the vector/matrix, using Eigen's default settings. More...
 
bool fromMatlabStringFormat (const std::string &s, mrpt::optional_ref< std::ostream > dump_errors_here=std::nullopt)
 Reads a matrix from a string in Matlab-like format, for example: "[1 0 2; 0 4 -1]" The string must start with '[' and end with ']'. More...
 
std::string inMatlabFormat (const std::size_t decimal_digits=6) const
 Exports the matrix as a string compatible with Matlab/Octave. More...
 
void saveToTextFile (const std::string &file, mrpt::math::TMatrixTextFileFormat fileFormat=mrpt::math::MATRIX_FORMAT_ENG, bool appendMRPTHeader=false, const std::string &userHeader=std::string()) const
 Saves the vector/matrix to a file compatible with MATLAB/Octave text format. More...
 
void loadFromTextFile (std::istream &f)
 Loads a vector/matrix from a text file, compatible with MATLAB text format. More...
 
void loadFromTextFile (const std::string &file)
 
template<typename OTHERMATVEC >
bool operator== (const OTHERMATVEC &o) const
 
template<typename OTHERMATVEC >
bool operator!= (const OTHERMATVEC &o) const
 

Static Public Member Functions

static Derived Identity ()
 
static Derived Identity (const std::size_t N)
 

Initialization methods

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

Member Function Documentation

◆ array() [1/2]

template<typename Scalar, class Derived>
auto mrpt::math::MatrixVectorBase< Scalar, Derived >::array ( )
inlineinherited

◆ array() [2/2]

template<typename Scalar, class Derived>
auto mrpt::math::MatrixVectorBase< Scalar, Derived >::array ( ) const
inlineinherited

Definition at line 175 of file MatrixVectorBase.h.

◆ assign()

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

Definition at line 106 of file MatrixVectorBase.h.

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

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◆ asString()

template<typename Scalar , class Derived >
std::string mrpt::math::MatrixVectorBase< Scalar, Derived >::asString ( ) const
inherited

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

Definition at line 335 of file MatrixVectorBase_impl.h.

Referenced by mrpt::math::operator<<().

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◆ block() [1/3]

◆ block() [2/3]

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

Definition at line 145 of file MatrixVectorBase.h.

◆ block() [3/3]

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

Definition at line 151 of file MatrixVectorBase.h.

◆ blockCopy() [1/2]

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

◆ blockCopy() [2/2]

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

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

Definition at line 240 of file MatrixBase.h.

◆ chol()

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

Cholesky M=UT * 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 >::render_dl(), and TEST().

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◆ coeff()

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

◆ 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(), mrpt::vision::CFeature::getFirstDescriptorAsMatrix(), and mrpt::obs::detail::range2XYZ().

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◆ col() [1/2]

template<typename Scalar, class Derived>
auto mrpt::math::MatrixBase< Scalar, Derived >::col ( int  colIdx)
inline

Definition at line 89 of file MatrixBase.h.

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

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◆ col() [2/2]

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

Definition at line 94 of file MatrixBase.h.

◆ Constant() [1/2]

template<typename Scalar, class Derived>
static Derived mrpt::math::MatrixVectorBase< Scalar, Derived >::Constant ( const Scalar  value)
inlinestaticinherited

Definition at line 89 of file MatrixVectorBase.h.

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

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◆ Constant() [2/2]

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

Definition at line 99 of file MatrixVectorBase.h.

◆ det()

◆ 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 509 of file MatrixVectorBase_impl.h.

Referenced by ransac3Dplane_distance().

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◆ 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 522 of file MatrixVectorBase_impl.h.

◆ eig()

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

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

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

Parameters
[in]sortedIf true, eigenvalues (and eigenvectors) will be sorted in ascending order.
[out]eVecsThe container where eigenvectors will be stored.
[out]eValsThe 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(), and TEST().

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◆ eig_symmetric()

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

Read: eig()

Note
This only uses the lower-triangular part of the matrix

Definition at line 131 of file MatrixBase_impl.h.

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

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◆ empty()

template<typename Scalar, class Derived>
bool mrpt::math::MatrixVectorBase< Scalar, Derived >::empty ( ) const
inlineinherited

returns true if matrix/vector has size=0

Definition at line 260 of file MatrixVectorBase.h.

◆ extractColumn() [1/2]

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

Definition at line 128 of file MatrixBase.h.

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

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◆ extractColumn() [2/2]

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

Definition at line 136 of file MatrixBase.h.

◆ extractMatrix() [1/2]

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

Definition at line 247 of file MatrixBase.h.

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

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◆ extractMatrix() [2/2]

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

Definition at line 260 of file MatrixBase.h.

◆ extractRow() [1/2]

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

Definition at line 112 of file MatrixBase.h.

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

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◆ extractRow() [2/2]

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

Definition at line 120 of file MatrixBase.h.

◆ fill()

◆ 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 ' ', tabs '' or commas ','.

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::TPoint2D::fromString(), mrpt::math::TPose3D::fromString(), mrpt::poses::CPose3DQuat::fromString(), mrpt::poses::CPose2D::fromString(), mrpt::math::TPoint3D::fromString(), mrpt::poses::CPose3D::fromString(), mrpt::nav::PlannerTPS_VirtualBase::internal_loadConfig_PTG(), and TEST().

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◆ head()

template<typename Scalar, class Derived>
template<int N>
CMatrixFixed<Scalar, N, 1> mrpt::math::MatrixVectorBase< Scalar, Derived >::head ( ) const
inlineinherited

Definition at line 232 of file MatrixVectorBase.h.

◆ Identity() [1/2]

template<typename Scalar, class Derived>
static Derived mrpt::math::MatrixBase< Scalar, Derived >::Identity ( )
inlinestatic

Definition at line 64 of file MatrixBase.h.

◆ Identity() [2/2]

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

Definition at line 74 of file MatrixBase.h.

◆ inMatlabFormat()

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

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

See also
fromMatlabStringFormat()

Definition at line 139 of file MatrixVectorBase_impl.h.

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

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◆ insertMatrix()

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

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

Definition at line 210 of file MatrixBase.h.

Referenced by mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::slam::data_association_independent_predictions(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), Pose3DQuatPDFGaussTests::testInverse(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DQuatPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverseComposition(), and Pose3DQuatPDFGaussTests::testPoseInverseComposition().

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◆ insertMatrixTransposed()

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

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

Definition at line 221 of file MatrixBase.h.

◆ inverse()

template<typename Scalar , class Derived >
Derived mrpt::math::MatrixBase< Scalar, Derived >::inverse ( ) const

Returns the inverse of a general matrix using LU.

Definition at line 183 of file MatrixBase_impl.h.

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

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◆ inverse_LLt()

template<typename Scalar , class Derived >
Derived mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt ( ) const

Returns the inverse of a symmetric matrix using LLt.

Definition at line 195 of file MatrixBase_impl.h.

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

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◆ isSquare()

template<typename Scalar, class Derived>
bool mrpt::math::MatrixVectorBase< Scalar, Derived >::isSquare ( ) const
inlineinherited

returns true if matrix is NxN

Definition at line 257 of file MatrixVectorBase.h.

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

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◆ loadFromTextFile() [1/2]

template<typename Scalar , class Derived >
void mrpt::math::MatrixVectorBase< Scalar, Derived >::loadFromTextFile ( std::istream &  f)
inherited

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

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

Exceptions
std::runtime_errorOn format error.
See also
saveToTextFile, fromMatlabStringFormat

Definition at line 236 of file MatrixVectorBase_impl.h.

Referenced by mrpt::obs::CObservation3DRangeScan::load(), mrpt::poses::CPoseInterpolatorBase< 3 >::loadFromTextFile(), 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 324 of file MatrixVectorBase_impl.h.

◆ matProductOf_AAt()

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

◆ matProductOf_AB()

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

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

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

Definition at line 175 of file MatrixBase_impl.h.

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

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◆ matProductOf_Ab()

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

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

Definition at line 483 of file MatrixVectorBase_impl.h.

◆ matProductOf_AtA()

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

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

Definition at line 490 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 361 of file MatrixVectorBase_impl.h.

Referenced by mrpt::opengl::CVectorField2D::adjustVectorFieldToGrid(), mrpt::slam::CGridMapAligner::AlignPDF_correlation(), do_matrix_op_test(), and mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal().

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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 382 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 407 of file MatrixVectorBase_impl.h.

◆ maximumDiagonal()

template<typename Scalar , class Derived >
Scalar mrpt::math::MatrixBase< Scalar, Derived >::maximumDiagonal ( ) const

Returns the maximum value in the diagonal.

Definition at line 207 of file MatrixBase_impl.h.

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

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◆ mbDerived() [1/2]

◆ mbDerived() [2/2]

template<typename Scalar, class Derived>
const Derived& mrpt::math::MatrixBase< Scalar, Derived >::mbDerived ( ) const
inline

Definition at line 27 of file MatrixBase.h.

◆ minCoeff() [1/3]

template<typename Scalar , class Derived >
Scalar mrpt::math::MatrixVectorBase< Scalar, Derived >::minCoeff ( ) const
inherited

Minimum value in the matrix/vector.

Definition at line 355 of file MatrixVectorBase_impl.h.

Referenced by mrpt::opengl::CVectorField2D::adjustVectorFieldToGrid(), and 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 367 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 396 of file MatrixVectorBase_impl.h.

◆ minimumDiagonal()

template<typename Scalar , class Derived >
Scalar mrpt::math::MatrixBase< Scalar, Derived >::minimumDiagonal ( ) const

Returns the minimum value in the diagonal.

Definition at line 213 of file MatrixBase_impl.h.

◆ mvbDerived() [1/2]

template<typename Scalar, class Derived>
Derived& mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived ( )
inlineinherited

Definition at line 59 of file MatrixVectorBase.h.

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

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◆ mvbDerived() [2/2]

template<typename Scalar, class Derived>
const Derived& mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived ( ) const
inlineinherited

Definition at line 60 of file MatrixVectorBase.h.

◆ norm()

template<typename Scalar , class Derived >
Scalar mrpt::math::MatrixVectorBase< Scalar, Derived >::norm ( ) const
inherited

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

See also
norm

Definition at line 503 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 497 of file MatrixVectorBase_impl.h.

◆ operator!=()

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

Definition at line 432 of file MatrixVectorBase.h.

◆ operator*() [1/4]

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

Definition at line 214 of file MatrixVectorBase.h.

◆ operator*() [2/4]

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

Definition at line 219 of file MatrixVectorBase.h.

◆ operator*() [3/4]

template<typename Scalar , class Derived >
CMatrixDynamic< Scalar > mrpt::math::MatrixVectorBase< Scalar, Derived >::operator* ( const CMatrixDynamic< Scalar > &  v)
inherited

Definition at line 436 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 468 of file MatrixVectorBase_impl.h.

◆ operator*=()

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

Definition at line 430 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 418 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 424 of file MatrixVectorBase_impl.h.

◆ operator-=() [3/3]

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

Definition at line 324 of file MatrixVectorBase.h.

◆ operator==()

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

Definition at line 422 of file MatrixVectorBase.h.

◆ rank()

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

Finds the rank of the matrix via LU decomposition.

Uses Eigen's default threshold unless threshold>0.

Definition at line 156 of file MatrixBase_impl.h.

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

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◆ removeColumns()

template<typename Scalar , class Derived >
void mrpt::math::MatrixBase< Scalar, Derived >::removeColumns ( const std::vector< std::size_t > &  idxsToRemove)

Removes columns of the matrix.

Indices may be unsorted and duplicated

Definition at line 38 of file MatrixBase_impl.h.

◆ removeRows()

template<typename Scalar, class Derived>
void mrpt::math::MatrixBase< Scalar, Derived >::removeRows ( const std::vector< std::size_t > &  idxsToRemove)

Removes rows of the matrix.

Indices may be unsorted and duplicated

Definition at line 65 of file MatrixBase_impl.h.

◆ row() [1/2]

template<typename Scalar, class Derived>
auto mrpt::math::MatrixBase< Scalar, Derived >::row ( int  rowIdx)
inline

Definition at line 100 of file MatrixBase.h.

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

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◆ row() [2/2]

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

Definition at line 105 of file MatrixBase.h.

◆ saveToTextFile()

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

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

Parameters
fileThe target filename.
fileFormatSee TMatrixTextFileFormat. The format of the numbers in the text file.
appendMRPTHeaderInsert this header to the file "% File generated by MRPT. Load with MATLAB with: VAR=load(FILENAME);"
userHeaderAdditional 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 157 of file MatrixVectorBase_impl.h.

Referenced by mrpt::vision::build_linear_system(), 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::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile(), mrpt::maps::COccupancyGridMap2D::saveMetricMapRepresentationToFile(), mrpt::math::CSparseMatrix::saveToTextFile_dense(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::saveToTextFileAsDense(), and TestLevMarq().

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◆ setConstant() [1/3]

template<typename Scalar, class Derived>
void mrpt::math::MatrixVectorBase< Scalar, Derived >::setConstant ( const Scalar  value)
inlineinherited

Definition at line 75 of file MatrixVectorBase.h.

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

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◆ setConstant() [2/3]

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

Definition at line 76 of file MatrixVectorBase.h.

◆ setConstant() [3/3]

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

Definition at line 81 of file MatrixVectorBase.h.

◆ setDiagonal() [1/3]

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

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

Definition at line 34 of file MatrixBase.h.

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

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◆ setDiagonal() [2/3]

template<typename Scalar, class Derived>
void mrpt::math::MatrixBase< Scalar, Derived >::setDiagonal ( const Scalar  value)
inline

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

Definition at line 43 of file MatrixBase.h.

◆ setDiagonal() [3/3]

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

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

Definition at line 51 of file MatrixBase.h.

◆ setIdentity() [1/2]

◆ setIdentity() [2/2]

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

Definition at line 62 of file MatrixBase.h.

◆ setZero() [1/3]

template<typename Scalar, class Derived>
void mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero ( )
inlineinherited

Definition at line 112 of file MatrixVectorBase.h.

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

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◆ setZero() [2/3]

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

Definition at line 113 of file MatrixVectorBase.h.

◆ setZero() [3/3]

template<typename Scalar, class Derived>
void mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero ( size_t  nrows)
inlineinherited

Definition at line 117 of file MatrixVectorBase.h.

◆ sum()

template<typename Scalar , class Derived >
Scalar mrpt::math::MatrixVectorBase< Scalar, Derived >::sum ( ) const
inherited

Sum of all elements in matrix/vector.

Definition at line 343 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 349 of file MatrixVectorBase_impl.h.

◆ tail()

template<typename Scalar, class Derived>
template<int N>
CMatrixFixed<Scalar, N, 1> mrpt::math::MatrixVectorBase< Scalar, Derived >::tail ( ) const
inlineinherited

Definition at line 226 of file MatrixVectorBase.h.

◆ trace()

template<typename Scalar , class Derived >
Scalar mrpt::math::MatrixBase< Scalar, Derived >::trace ( ) const

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

Definition at line 219 of file MatrixBase_impl.h.

Referenced by TEST().

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◆ transpose() [1/2]

template<typename Scalar, class Derived>
auto mrpt::math::MatrixVectorBase< Scalar, Derived >::transpose ( )
inlineinherited

◆ transpose() [2/2]

template<typename Scalar, class Derived>
auto mrpt::math::MatrixVectorBase< Scalar, Derived >::transpose ( ) const
inlineinherited

Definition at line 164 of file MatrixVectorBase.h.

◆ unsafeRemoveColumns()

template<typename Scalar , class Derived >
void mrpt::math::MatrixBase< Scalar, Derived >::unsafeRemoveColumns ( const std::vector< std::size_t > &  idxs)

Removes columns of the matrix.

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

Definition at line 22 of file MatrixBase_impl.h.

◆ unsafeRemoveRows()

template<typename Scalar, class Derived>
void mrpt::math::MatrixBase< Scalar, Derived >::unsafeRemoveRows ( const std::vector< std::size_t > &  idxs)

Removes rows of the matrix.

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

Definition at line 49 of file MatrixBase_impl.h.

◆ Zero() [1/2]

template<typename Scalar, class Derived>
static Derived mrpt::math::MatrixVectorBase< Scalar, Derived >::Zero ( )
inlinestaticinherited

Definition at line 125 of file MatrixVectorBase.h.

Referenced by mrpt::vision::build_linear_system(), and mrpt::obs::CObservation3DRangeScan::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.




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