CMatrixFixedNumeric.h File Reference

#include <mrpt/math/CMatrix.h>
#include <mrpt/math/CMatrixD.h>
#include <mrpt/math/CArray.h>

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Classes
class	mrpt::math::CMatrixFixedNumeric< T, NROWS, NCOLS >
	A numeric matrix of compile-time fixed size. More...
class	mrpt::math::detail::VicinityTraits< CMatrixFixedNumeric< T, D, D > >
	Vicinity traits class specialization for fixed size matrices. More...
Namespaces
namespace	mrpt
	This is the global namespace for all Mobile Robot Porgramming Toolkit (MRPT) libraries.
namespace	mrpt::math
	This base provides a set of functions for maths stuff.
namespace	mrpt::math::detail
Defines
#define	UNITIALIZED_MATRIX   false,false
	For usage in one of the constructors of CMatrixFixedNumeric, if it's not required to fill it with zeros at the constructor to save time.
Typedefs
Typedefs for common sizes
typedef CMatrixFixedNumeric < double, 2, 2 >	mrpt::math::CMatrixDouble22
typedef CMatrixFixedNumeric < double, 3, 3 >	mrpt::math::CMatrixDouble33
typedef CMatrixFixedNumeric < double, 4, 4 >	mrpt::math::CMatrixDouble44
typedef CMatrixFixedNumeric < double, 6, 6 >	mrpt::math::CMatrixDouble66
typedef CMatrixFixedNumeric < double, 1, 3 >	mrpt::math::CMatrixDouble13
typedef CMatrixFixedNumeric < double, 3, 1 >	mrpt::math::CMatrixDouble31
typedef CMatrixFixedNumeric < double, 1, 2 >	mrpt::math::CMatrixDouble12
typedef CMatrixFixedNumeric < double, 2, 1 >	mrpt::math::CMatrixDouble21
typedef CMatrixFixedNumeric < double, 6, 1 >	mrpt::math::CMatrixDouble61
typedef CMatrixFixedNumeric < double, 1, 6 >	mrpt::math::CMatrixDouble16
typedef CMatrixFixedNumeric < float, 2, 2 >	mrpt::math::CMatrixFloat22
typedef CMatrixFixedNumeric < float, 3, 3 >	mrpt::math::CMatrixFloat33
typedef CMatrixFixedNumeric < float, 4, 4 >	mrpt::math::CMatrixFloat44
typedef CMatrixFixedNumeric < float, 6, 6 >	mrpt::math::CMatrixFloat66
typedef CMatrixFixedNumeric < float, 1, 3 >	mrpt::math::CMatrixFloat13
typedef CMatrixFixedNumeric < float, 3, 1 >	mrpt::math::CMatrixFloat31
typedef CMatrixFixedNumeric < float, 1, 2 >	mrpt::math::CMatrixFloat12
typedef CMatrixFixedNumeric < float, 2, 1 >	mrpt::math::CMatrixFloat21
typedef CMatrixFixedNumeric < float, 6, 1 >	mrpt::math::CMatrixFloat61
typedef CMatrixFixedNumeric < float, 1, 6 >	mrpt::math::CMatrixFloat16
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, bool allow_submatrix_mult)
	The generic function which allow mixing any kind of matrices.
template<typename T , size_t N, size_t M>
void	mrpt::math::multiply_HtCH (const CMatrixFixedNumeric< T, M, N > &H, const CMatrixFixedNumeric< T, M, M > &C, CMatrixFixedNumeric< T, N, N > &R, bool accumResultInOutput)
	Use the member method with the same name in matrix classes.
template<typename T , size_t NROWS, size_t NCOLS>
void	mrpt::math::invMatrix (const CMatrixFixedNumeric< T, NROWS, NCOLS > &M, CMatrixFixedNumeric< T, NROWS, NCOLS > &out_inv)
	Returns the inverse of the matrix in "out_inv".
template<typename T , size_t NROWS, size_t NCOLS>
void	mrpt::math::invMatrix_destroySrc (CMatrixFixedNumeric< T, NROWS, NCOLS > &M, CMatrixFixedNumeric< T, NROWS, NCOLS > &out_inv)
	Returns the inverse of the matrix in "out_inv" , DESTROYING the original matrix M.
template<typename T , size_t NROWS, size_t NCOLS>
void	mrpt::math::multiply (CMatrixFixedNumeric< T, NROWS, NCOLS > &m, const T val)
	Multiply by scalar.
template<typename T , size_t NROWS, size_t NCOLS, size_t M1C>
void	mrpt::math::multiply (const CMatrixFixedNumeric< T, NROWS, M1C > &m1, const CMatrixFixedNumeric< T, M1C, NCOLS > &m2, CMatrixFixedNumeric< T, NROWS, NCOLS > &RESULT)
	Multiply 2 matrices: RESULT = m1 * m2.
template<typename T , size_t NROWS, size_t NCOLS>
void	mrpt::math::multiply_SIMD (CMatrixFixedNumeric< T, NROWS, NCOLS > &m, const T val)
template<typename T , size_t NROWS, size_t NCOLS, size_t M1C>
void	mrpt::math::multiply_SIMD (const CMatrixFixedNumeric< T, NROWS, M1C > &m1, const CMatrixFixedNumeric< T, M1C, NCOLS > &m2, CMatrixFixedNumeric< T, NROWS, NCOLS > &RESULT)
template<typename T , size_t M1R, size_t M1C>
void	mrpt::math::multiply_AAt (const CMatrixFixedNumeric< T, M1R, M1C > &m1, CMatrixFixedNumeric< T, M1R, M1R > &RESULT)
	Multiply 2 matrices: RESULT = A * A^t.
template<typename T , size_t N, size_t M>
void	mrpt::math::multiply_Ab (const CMatrixFixedNumeric< T, N, M > &A, const std::vector< T > &a, std::vector< T > &out_v)
	Computes the vector v = A * a, where "a" is a column vector of the appropriate length.
template<typename T , size_t NROWS, size_t NCOLS>
void	mrpt::math::sumInPlace (CMatrixFixedNumeric< T, NROWS, NCOLS > &m, const T val)
	Sum a scalar to all elements.
template<typename T , size_t NROWS, size_t NCOLS>
void	mrpt::math::sumInPlace_SIMD (CMatrixFixedNumeric< T, NROWS, NCOLS > &m, const T val)
template<typename T , size_t NROWS, size_t NCOLS>
void	mrpt::math::sumInPlace (CMatrixFixedNumeric< T, NROWS, NCOLS > &M, const CMatrixFixedNumeric< T, NROWS, NCOLS > &A)
	Sum two matrices: M+=A.
template<typename T , size_t NROWS, size_t NCOLS>
void	mrpt::math::sumInPlace_SIMD (CMatrixFixedNumeric< T, NROWS, NCOLS > &M, const CMatrixFixedNumeric< T, NROWS, NCOLS > &A)
template<typename T , size_t NROWS, size_t NCOLS>
void	mrpt::math::substractInPlace (CMatrixFixedNumeric< T, NROWS, NCOLS > &M, const CMatrixFixedNumeric< T, NROWS, NCOLS > &A)
	Sum two matrices: M-=A.
template<typename T , size_t NROWS, size_t NCOLS>
void	mrpt::math::substractInPlace_SIMD (CMatrixFixedNumeric< T, NROWS, NCOLS > &M, const CMatrixFixedNumeric< T, NROWS, NCOLS > &A)
template<typename T , size_t NROWS, size_t NCOLS>
T	mrpt::math::sumMatrixAllElements (const CMatrixFixedNumeric< T, NROWS, NCOLS > &M)
	Sum all the elements in the matrix.
template<typename T , size_t NROWS, size_t NCOLS>
T	mrpt::math::sumMatrixAllElements_SIMD (const CMatrixFixedNumeric< T, NROWS, NCOLS > &M)
template<typename T , size_t NROWS, size_t NCOLS>
T	mrpt::math::minimumMatrix (const CMatrixFixedNumeric< T, NROWS, NCOLS > &M)
	Sum all the elements in the matrix.
template<typename T , size_t NROWS, size_t NCOLS>
T	mrpt::math::minimumMatrix_SIMD (const CMatrixFixedNumeric< T, NROWS, NCOLS > &M)
template<typename T , size_t NROWS, size_t NCOLS>
T	mrpt::math::maximumMatrix (const CMatrixFixedNumeric< T, NROWS, NCOLS > &M)
	Sum all the elements in the matrix.
template<typename T , size_t NROWS, size_t NCOLS>
T	mrpt::math::maximumMatrix_SIMD (const CMatrixFixedNumeric< T, NROWS, NCOLS > &M)
template<typename T , size_t NROWS, size_t NCOLS>
void	mrpt::math::minimumAndMaximumMatrix (const CMatrixFixedNumeric< T, NROWS, NCOLS > &M, T &val_min, T &val_max)
	Sum all the elements in the matrix.
template<typename T , size_t NROWS, size_t NCOLS>
void	mrpt::math::minimumAndMaximumMatrix_SIMD (const CMatrixFixedNumeric< T, NROWS, NCOLS > &M, T &val_min, T &val_max)
template<typename T , size_t NROWS, size_t NCOLS>
T	mrpt::math::detMatrix (const CMatrixFixedNumeric< T, NROWS, NCOLS > &M)
	Returns the determinant of the matrix.
template<typename T , size_t NROWS, size_t NCOLS>
void	mrpt::math::sqrtMatrix (CMatrixFixedNumeric< T, NROWS, NCOLS > &M)
	Returns the determinant of the matrix.
template<typename T , size_t N>
void	mrpt::math::eigenVectorsMatrix (const CMatrixFixedNumeric< T, N, N > &M, CMatrixFixedNumeric< T, N, N > &Z, CMatrixFixedNumeric< T, N, N > &D)
	Used from the method from CMatrix classes instead.
template<typename T , size_t NROWS, size_t NCOLS>
CMatrixFixedNumeric< T, NROWS, NCOLS >	mrpt::math::sum (const CMatrixFixedNumeric< T, NROWS, NCOLS > &A, const CMatrixFixedNumeric< T, NROWS, NCOLS > &B)
	Return the sum of two matrices: RET = A+B.
template<typename T , size_t NROWS, size_t NCOLS>
CMatrixFixedNumeric< T, NROWS, NCOLS >	mrpt::math::substract (const CMatrixFixedNumeric< T, NROWS, NCOLS > &A, const CMatrixFixedNumeric< T, NROWS, NCOLS > &B)
	Return the sum of two matrices: RET = A-B.
template<typename T , size_t N, size_t M>
void	mrpt::math::multiply_HCHt (const CMatrixFixedNumeric< T, N, M > &H, const CMatrixTemplateNumeric< T > &C, CMatrixTemplateNumeric< T > &R, bool resizeOutputR, bool accumResultInOutput)
	Computes R = HCH^t, with optional index offsets in C and R.
template<class MAT_X , class MAT_A , class MAT_OUT >
void	mrpt::math::multiplySubMatrix (const MAT_X &X, const MAT_A &A, MAT_OUT &outResult, const size_t &A_cols_offset, const size_t &A_rows_offset, const size_t &A_col_count)
	Matrix multiplication of this matrix with a submatrix of 'A', saving the result in a third matrix.
template<typename T , size_t NROWS, size_t NCOLS>
CMatrixFixedNumeric< T, NROWS, NCOLS >	mrpt::math::operator* (const CMatrixFixedNumeric< T, NROWS, NCOLS > &m1, const T v)
	Multiply a matrix by a scalar.
template<typename T , size_t NROWS, size_t NCOLS, size_t M1C>
CMatrixFixedNumeric< T, NROWS, NCOLS >	mrpt::math::operator* (const CMatrixFixedNumeric< T, NROWS, M1C > &m1, const CMatrixFixedNumeric< T, M1C, NCOLS > &m2)
	Multiply 2 matrices with the * operator.
template<typename T , size_t NROWS, size_t NCOLS>
CMatrixFixedNumeric< T, NROWS, NCOLS >	mrpt::math::operator+ (const CMatrixFixedNumeric< T, NROWS, NCOLS > &m1, const CMatrixFixedNumeric< T, NROWS, NCOLS > &m2)
	Add 2 matrices with the + operator.
template<typename T , size_t NROWS, size_t NCOLS>
CMatrixFixedNumeric< T, NROWS, NCOLS >	mrpt::math::operator- (const CMatrixFixedNumeric< T, NROWS, NCOLS > &m1, const CMatrixFixedNumeric< T, NROWS, NCOLS > &m2)
	Substract 2 matrices with the - operator.
template<typename T , size_t NROWS, size_t NCOLS>
CMatrixFixedNumeric< T, NCOLS, NROWS >	mrpt::math::operator- (const CMatrixFixedNumeric< T, NROWS, NCOLS > &m)
	unary negative operator -
template<typename T , size_t NROWS, size_t NCOLS>
CMatrixFixedNumeric< T, NCOLS, NROWS >	mrpt::math::operator~ (const CMatrixFixedNumeric< T, NROWS, NCOLS > &m)
	unary transpose operator ~
template<typename T , size_t NROWS>
CMatrixFixedNumeric< T, NROWS, NROWS >	mrpt::math::operator! (const CMatrixFixedNumeric< T, NROWS, NROWS > &m)
	unary inverse operator !
template<typename T >
void MRPTDLLIMPEXP	mrpt::math::tred2 (T **a, size_t nn, T d[], T e[])
template<class T >
void MRPTDLLIMPEXP	mrpt::math::tqli (T d[], T e[], size_t nn, T **z)
template<typename T >
void MRPTDLLIMPEXP	mrpt::math::eigenVectorsMatrix (const CMatrixFixedNumeric< T, 2, 2 > &M, CMatrixFixedNumeric< T, 2, 2 > &Z, CMatrixFixedNumeric< T, 2, 2 > &D)
	Used from the method from CMatrix classes instead.
template<typename T >
T	mrpt::math::detMatrix (const CMatrixFixedNumeric< T, 2, 2 > &M)
	Returns the determinant of the matrix.
template<typename T >
T	mrpt::math::detMatrix (const CMatrixFixedNumeric< T, 3, 3 > &M)
	Returns the determinant of the matrix DET = a11(a33a22-a32a23)-a21(a33a12-a32a13)+a31(a23a12-a22a13).
template<typename T >
T	mrpt::math::detMatrix (const CMatrixFixedNumeric< T, 4, 4 > &M)
	Returns the determinant of the matrix.
template<typename T >
void	mrpt::math::invMatrix (const CMatrixFixedNumeric< T, 2, 2 > &M, CMatrixFixedNumeric< T, 2, 2 > &out_inv)
	Returns the inverse of the matrix in "out_inv".
template<typename T >
void	mrpt::math::invMatrix_destroySrc (CMatrixFixedNumeric< T, 2, 2 > &M, CMatrixFixedNumeric< T, 2, 2 > &out_inv)
template<typename T >
void	mrpt::math::invMatrix (const CMatrixFixedNumeric< T, 3, 3 > &M, CMatrixFixedNumeric< T, 3, 3 > &out_inv)
	Returns the inverse of the matrix in "out_inv".
template<typename T >
void	mrpt::math::invMatrix_destroySrc (CMatrixFixedNumeric< T, 3, 3 > &M, CMatrixFixedNumeric< T, 3, 3 > &out_inv)
template<typename T , size_t NROWS, size_t NCOLS>
void	mrpt::math::fixedToDynMatrix (const CMatrixFixedNumeric< T, NROWS, NCOLS > &SRC, CMatrixTemplateNumeric< T > &DST)
	Auxiliary function used in the constructor of dyn.
template<typename T , size_t NROWS, size_t NCOLS>
void	mrpt::math::insertMatrixFixTransposeIntoDyn (CMatrixTemplate< T > &M, const size_t nRow, const size_t nCol, const CMatrixFixedNumeric< T, NROWS, NCOLS > &in)
	Auxiliary function used in CMatrixTemplate.
template<typename T , size_t NROWS, size_t NCOLS>
void	mrpt::math::insertMatrixFixIntoDyn (CMatrixTemplate< T > &M, const size_t nRow, const size_t nCol, const CMatrixFixedNumeric< T, NROWS, NCOLS > &in)
	Auxiliary function used in CMatrixTemplate.
template<typename T , size_t NROWS, size_t NCOLS>
void	mrpt::math::extractFixMatrixFromDynMatrix (const CMatrixTemplate< T > &M, const size_t nRow, const size_t nCol, CMatrixFixedNumeric< T, NROWS, NCOLS > &outMat)
	Used from CMatrixTemplate::extractMatrix.
template<typename T , size_t N, size_t M>
CMatrixTemplateNumeric< T > &	mrpt::math::add (CMatrixTemplateNumeric< T > &A, const CMatrixFixedNumeric< T, N, M > &B)
template<typename T , size_t N, size_t M>
CMatrixTemplateNumeric< T > &	mrpt::math::substract (CMatrixTemplateNumeric< T > &A, const CMatrixFixedNumeric< T, N, M > &B)
template<typename T , typename VECTORLIKE , size_t DIM>
T	mrpt::math::multiply_HCHt_scalar (const VECTORLIKE &H, const CMatrixFixedNumeric< T, DIM, DIM > &C)
	A special case of multiply_HCHt for the case of the resulting matrix being a scalar (that is, a 1x1 matrix) - This method directly returns this as a scalar avoiding the construction of a 1x1 matrix.
template<size_t NROWS, size_t NCOLS>
mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, CMatrixFixedNumeric< float, NROWS, NCOLS > &M)
	Read operator from a CStream.
template<size_t NROWS, size_t NCOLS>
mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, CMatrixFixedNumeric< double, NROWS, NCOLS > &M)
	Read operator from a CStream.
template<size_t NROWS, size_t NCOLS>
mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const CMatrixFixedNumeric< float, NROWS, NCOLS > &M)
	Write operator for writing into a CStream.
template<size_t NROWS, size_t NCOLS>
mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const CMatrixFixedNumeric< double, NROWS, NCOLS > &M)
	Write operator for writing into a CStream.
template<class T , size_t NROWS, size_t NCOLS>
std::ostream &	mrpt::math::operator<< (std::ostream &ostrm, const CMatrixFixedNumeric< T, NROWS, NCOLS > &m)
	Textual output stream function.
template<class T , size_t NROWS, size_t NCOLS>
bool	mrpt::math::operator== (const CMatrixFixedNumeric< T, NROWS, NCOLS > &M1, const CMatrixFixedNumeric< T, NROWS, NCOLS > &M2)
	Equal comparison (==).
Conversions from point & poses to matrices
Used from the "operator =" from poses/points to CMatrixFixedNumeric
template<typename T , size_t NROWS, size_t NCOLS>
CMatrixFixedNumeric< T, NROWS, NCOLS > &	mrpt::math::matrixFromPoseOrPoint (CMatrixFixedNumeric< T, NROWS, NCOLS > &M, const CPoint2D &p)
template<typename T , size_t NROWS, size_t NCOLS>
CMatrixFixedNumeric< T, NROWS, NCOLS > &	mrpt::math::matrixFromPoseOrPoint (CMatrixFixedNumeric< T, NROWS, NCOLS > &M, const CPoint3D &p)
template<typename T , size_t NROWS, size_t NCOLS>
CMatrixFixedNumeric< T, NROWS, NCOLS > &	mrpt::math::matrixFromPoseOrPoint (CMatrixFixedNumeric< T, NROWS, NCOLS > &M, const CPose2D &p)
template<typename T , size_t NROWS, size_t NCOLS>
CMatrixFixedNumeric< T, NROWS, NCOLS > &	mrpt::math::matrixFromPoseOrPoint (CMatrixFixedNumeric< T, NROWS, NCOLS > &M, const CPose3D &p)
template<>
CMatrixDouble21 &	mrpt::math::matrixFromPoseOrPoint (CMatrixDouble21 &M, const CPoint2D &p)
template<>
CMatrixDouble31 &	mrpt::math::matrixFromPoseOrPoint (CMatrixDouble31 &M, const CPoint3D &p)
template<>
CMatrixDouble31 &	mrpt::math::matrixFromPoseOrPoint (CMatrixDouble31 &M, const CPose2D &p)
template<>
CMatrixDouble61 &	mrpt::math::matrixFromPoseOrPoint (CMatrixDouble61 &M, const CPose3D &p)

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Define Documentation

#define UNITIALIZED_MATRIX   false,false

For usage in one of the constructors of CMatrixFixedNumeric, if it's not required to fill it with zeros at the constructor to save time.

Definition at line 77 of file CMatrixFixedNumeric.h.

Referenced by mrpt::bayes::CKalmanFilterCapable< 6, 3, 3, 6 >::runOneKalmanIteration(), and mrpt::bayes::detail::runOneKalmanIteration_addNewLandmarks().