MRPT  1.9.9
ops_matrices.h File Reference

This file implements miscelaneous matrix and matrix/vector operations, and internal functions in mrpt::math::detail. More...

Detailed Description

This file implements miscelaneous matrix and matrix/vector operations, and internal functions in mrpt::math::detail.

Definition in file ops_matrices.h.

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Go to the source code of this file.

Namespaces

 mrpt
 This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
 
 mrpt::math
 This base provides a set of functions for maths stuff.
 

Macros

#define SAVE_MATRIX(M)   M.saveToTextFile(#M ".txt");
 A useful macro for saving matrixes to a file while debugging. More...
 

Functions

template<typename MAT_H , typename MAT_C , typename MAT_R >
void mrpt::math::multiply_HCHt (const MAT_H &H, const MAT_C &C, MAT_R &R, bool accumResultInOutput=false)
 R = H * C * H^t. More...
 
template<std::size_t H_ROWS, std::size_t H_COLS, typename Scalar >
mrpt::math::CMatrixFixed< Scalar, H_ROWS, H_ROWS > mrpt::math::multiply_HCHt (const mrpt::math::CMatrixFixed< Scalar, H_ROWS, H_COLS > &H, const mrpt::math::CMatrixFixed< Scalar, H_COLS, H_COLS > &C)
 return a fixed-size matrix with the result of: H * C * H^t More...
 
template<typename VECTOR_H , typename MAT_C >
MAT_C::Scalar mrpt::math::multiply_HtCH_scalar (const VECTOR_H &H, const MAT_C &C)
 r (a scalar) = H * C * H^t (with a column vector H and a symmetric matrix C) More...
 
template<typename VECTOR_H , typename MAT_C >
MAT_C::Scalar mrpt::math::multiply_HCHt_scalar (const VECTOR_H &H, const MAT_C &C)
 r (a scalar) = H^t * C * H (with a row vector H and a symmetric matrix C) More...
 
template<class MAT_IN , class VECTOR , class MAT_OUT >
void mrpt::math::meanAndCovMat (const MAT_IN &v, VECTOR &out_mean, MAT_OUT &out_cov)
 Computes the mean vector and covariance from a list of samples in an NxM matrix, where each row is a sample, so the covariance is MxM. More...
 
template<class MAT_IN , class VEC >
void mrpt::math::meanAndStdColumns (const MAT_IN &m, VEC &outMeanVector, VEC &outStdVector, const bool unbiased_variance=true)
 Computes a row with the mean values of each column in the matrix and the associated vector with the standard deviation of each column. More...
 
template<class MATRIX >
CMatrixDouble mrpt::math::cov (const MATRIX &v)
 Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample, so the covariance is MxM. More...
 
template<class MAT_A , class SKEW_3VECTOR , class MAT_OUT >
void mrpt::math::multiply_A_skew3 (const MAT_A &A, const SKEW_3VECTOR &v, MAT_OUT &out)
 Only for vectors/arrays "v" of length3, compute out = A * Skew(v), where Skew(v) is the skew symmetric matric generated from v (see mrpt::math::skew_symmetric3) More...
 
template<class SKEW_3VECTOR , class MAT_A , class MAT_OUT >
void mrpt::math::multiply_skew3_A (const SKEW_3VECTOR &v, const MAT_A &A, MAT_OUT &out)
 Only for vectors/arrays "v" of length3, compute out = Skew(v) * A, where Skew(v) is the skew symmetric matric generated from v (see mrpt::math::skew_symmetric3) More...
 
template<typename MATIN , typename MATOUT >
void mrpt::math::laplacian (const MATIN &g, MATOUT &ret)
 Computes the Laplacian of a square graph weight matrix. More...
 
template<std::size_t BLOCKSIZE, typename MAT , typename MATRIX >
void mrpt::math::extractSubmatrixSymmetricalBlocks (const MAT &m, const std::vector< size_t > &block_indices, MATRIX &out)
 Get a submatrix from a square matrix, by collecting the elements M(idxs,idxs), where idxs is a sequence {block_indices(i):block_indices(i)+BLOCKSIZE-1} for all "i" up to the size of block_indices. More...
 
template<typename MAT , typename MATRIX >
void mrpt::math::extractSubmatrixSymmetricalBlocksDyn (const MAT &m, const std::size_t BLOCKSIZE, const std::vector< size_t > &block_indices, MATRIX &out)
 
template<typename MAT , typename MATRIX >
void mrpt::math::extractSubmatrixSymmetrical (const MAT &m, const std::vector< size_t > &indices, MATRIX &out)
 Get a submatrix from a square matrix, by collecting the elements M(idxs,idxs), where idxs is the sequence of indices passed as argument. More...
 

Macro Definition Documentation

◆ SAVE_MATRIX

#define SAVE_MATRIX (   M)    M.saveToTextFile(#M ".txt");

A useful macro for saving matrixes to a file while debugging.

Definition at line 157 of file ops_matrices.h.




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