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

#include <mrpt/math/CMatrixTemplate.h>

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List of all members.

Public Types

typedef T value_type

The type of the matrix elements.

typedef T & reference

typedef const T & const_reference

typedef std::size_t size_type

typedef std::ptrdiff_t difference_type

Public Member Functions

template<size_t N>

void ASSERT_ENOUGHROOM (size_t r, size_t c) const

Checks whether the rows [r-N,r+N] and the columns [c-N,c+N] are present in the matrix.

void fillAll (const T &val)

void extractCol (size_t nCol, std::vector< T > &out, int startingRow=0) const

Returns a given column to a vector (without modifying the matrix)

Exceptions:

std::exception

On index out of bounds.

void extractCol (size_t nCol, CMatrixTemplate< T > &out, int startingRow=0) const

Gets a given column to a vector (without modifying the matrix)

Exceptions:

std::exception

On index out of bounds.

void swapCols (size_t nCol1, size_t nCol2)

Swap two columns

Exceptions:

std::exception

On index out of bounds.

void swapRows (size_t nRow1, size_t nRow2)

Swap two rows

Exceptions:

std::exception

On index out of bounds.

template<class F >

void extractRow (size_t nRow, std::vector< F > &out, size_t startingCol=0) const

Gets a given row to a vector (without modifying the matrix)

Exceptions:

std::exception

On index out of bounds.

template<class F >

void extractRow (size_t nRow, CMatrixTemplate< F > &out, size_t startingCol=0) const

Gets a given row to a vector (without modifying the matrix)

Exceptions:

std::exception

On index out of bounds.

CMatrixTemplate (const CMatrixTemplate &m)

Constructors.

CMatrixTemplate (size_t row=3, size_t col=3)

CMatrixTemplate (const CMatrixTemplate &m, const size_t cropRowCount, const size_t cropColCount)

Copy constructor & crop from another matrix.

template<typename V , size_t N>

CMatrixTemplate (size_t row, size_t col, V(&theArray)[N])

Constructor from a given size and a C array.

template<typename V >

CMatrixTemplate (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.

virtual ~CMatrixTemplate ()

Destructor.

CMatrixTemplate & operator= (const CMatrixTemplate &m)

Assignment operator from another matrix.

template<typename V , size_t N>

CMatrixTemplate & 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).

size_t getRowCount () const

Number of rows in the matrix.

size_t getColCount () const

Number of columns in the matrix.

const CMatrixTemplateSize & size () const

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

void setSize (size_t row, size_t col, bool zeroNewElements=false)

Changes the size of matrix, maintaining the previous contents.

void resize (const CMatrixTemplateSize &siz, bool zeroNewElements=false)

This method just checks has no effects in this class, but raises an exception if the expected size does not match.

T & operator() (size_t row, size_t col)

Subscript operator to get/set individual elements.

const T & operator() (size_t row, size_t col) const

Subscript operator to get individual elements.

T & operator() (size_t ith)

Subscript operator to get/set an individual element from a row or column matrix.

T operator() (size_t ith) const

Subscript operator to get/set an individual element from a row or column matrix.

void set_unsafe (size_t row, size_t col, const T &v)

Fast but unsafe method to write a value in the matrix.

const T & get_unsafe (size_t row, size_t col) const

Fast but unsafe method to read a value from the matrix.

T & get_unsafe (size_t row, size_t col)

Fast but unsafe method to get a reference from the matrix.

T * get_unsafe_row (size_t row)

Fast but unsafe method to obtain a pointer to a given row of the matrix (Use only in time critical applications).

const T * get_unsafe_row (size_t row) const

Fast but unsafe method to obtain a pointer to a given row of the matrix (Use only in critical applications).

void extractRows (size_t firstRow, size_t lastRow, CMatrixTemplate< T > &out) const

Gets a series of contiguous rows.

void extractColumns (size_t firstCol, size_t lastCol, CMatrixTemplate< T > &out) const

Gets a series of contiguous columns.

void insertRow (size_t nRow, const std::vector< T > &in)

Inserts a row from a vector, replacing the current contents of that row.

void appendRow (const std::vector< T > &in)

Appends a new row to the MxN matrix from a 1xN vector.

void appendCol (const std::vector< T > &in)

Appends a new column to the matrix from a vector.

void insertCol (size_t nCol, const std::vector< T > &in)

Inserts a column from a vector, replacing the current contents of that column.

template<class MAT_R >

void insertMatrix (const size_t nRow, const size_t nCol, const MAT_R &in)

Inserts a matrix into this matrix Notice that the matrix must "fit" into the existing size of this matrix.

template<class MAT_R >

void insertMatrixTranspose (const size_t nRow, const size_t nCol, const MAT_R &in)

Inserts the transpose of a given matrix into this matrix Notice that the matrix must "fit" into the existing size of this matrix.

template<size_t NROWS, size_t NCOLS>

void insertMatrix (const size_t nRow, const size_t nCol, const CMatrixFixedNumeric< T, NROWS, NCOLS > &in)

Inserts a fixed-size matrix into this matrix Notice that the matrix must "fit" into the existing size of this matrix.

template<size_t NROWS, size_t NCOLS>

void insertMatrixTranspose (const size_t nRow, const size_t nCol, const CMatrixFixedNumeric< T, NROWS, NCOLS > &in)

Inserts the transpose of a given fixed-size matrix into this matrix Notice that the matrix must "fit" into the existing size of this matrix.

void insertMatrix (size_t nRow, size_t nCol, const std::vector< T > &in)

Inserts a matrix line (vector) into this matrix Notice that the matrix must "fit" into the existing size of this matrix.

void joinMatrix (const CMatrixTemplate< T > &left_up, const CMatrixTemplate< T > &right_up, const CMatrixTemplate< T > &left_down, const CMatrixTemplate< T > &right_down)

Inserts 4 matrixes corresponding to the "four corners" into this matrix.

void extractSubmatrix (const size_t row1, const size_t row2, const size_t col1, const size_t col2, CMatrixTemplate< T > &out) const

Get a submatrix, given its bounds.

CMatrixTemplate< T > operator() (const size_t row1, const size_t row2, const size_t col1, const size_t col2) const

Subscript operator to get a submatrix.

void extractSubmatrixSymmetricalBlocks (const size_t block_size, const vector_size_t &block_indices, CMatrixTemplate< T > &out) const

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)+block_size-1} for all "i" up to the size of block_indices.

void extractSubmatrixSymmetrical (const vector_size_t &indices, CMatrixTemplate< T > &out) const

Get a submatrix from a square matrix, by collecting the elements M(idxs,idxs), where idxs is the sequence of indices passed as argument.

void exchangeColumns (size_t col1, size_t col2)

Interchanges two columns of the matrix.

void exchangeRows (size_t row1, size_t row2)

Interchanges two rows of the matrix.

void deleteRow (size_t row)

Deletes a row of the matrix.

void deleteColumn (size_t col)

Deletes a column of the matrix.

template<class R >

void extractMatrix (size_t nRow, size_t nCol, CMatrixTemplate< R > &in) const

Extract a sub matrix from a matrix:

Exceptions:

std::exception

On index out of bounds The output matrix must have been previously set to the desired size.

void extractMatrix (size_t nRow, size_t nCol, size_t nrows, size_t ncols, CMatrixTemplate< T > &outMat) const

Extract a sub matrix from a matrix:

Exceptions:

std::exception

On index out of bounds The output matrix must have been previously set to the desired size.

void extractMatrix (size_t nRow, size_t nCol, std::vector< T > &in) const

Extract a sub matrix (vector) from a matrix:

Exceptions:

std::exception

On index out of bounds The output matrix must have been previously set to the desired size.

template<size_t NROWS, size_t NCOLS>

void extractMatrix (const size_t nRow, const size_t nCol, CMatrixFixedNumeric< T, NROWS, NCOLS > &outMat) const

Extract a sub matrix from a matrix (in the form of a fixed-size matrix)

Exceptions:

std::exception

On index out of bounds The output matrix settles the size of the submatrix to extract, and (nRow,nCol) are the indices of the first element in the submatrix: e.g.

std::vector< T > extractMatrix (size_t nRow, size_t nCol, size_t ncols) const

Extract a sub matrix (vector) from a matrix:

Exceptions:

std::exception

On index out of bounds The output matrix must have been previously set to the desired size.

std::string inMatlabFormat (const size_t decimal_digits=6) const

Dump matrix in matlab format.

bool fromMatlabStringFormat (const std::string &s)

Read 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 ']'.

void removeColumns (const mrpt::vector_size_t &idxsToRemove, bool vectorIsAlreadySorted=false)

Removes a set of columns by their indexes (0:first), given by the vector "idxsToRemove".

void getAsVector (std::vector< T > &out) const

Returns a vector containing the matrix's values.

CMatrixTemplate< T > operator() (const std::vector< size_t > &rows, const std::vector< size_t > &cols) const

Returns a submatrix with random indices to the matrix, à la Matlab.

void removeRowsAndCols (const std::set< size_t > &rows, const std::set< size_t > &cols)

Removes arbitrary rows and columns from the matrix.

void insertRowsAndCols (const std::multiset< size_t > &rows, const std::multiset< size_t > &cols, const T &defaultValue=T())

Inserts rows and columns as needed.

template<size_t N, typename ReturnType >

ReturnType getVicinity (size_t c, size_t r) const

Method to retrieve the vicinity of an element, given its coordinates.

Import/export as text

void saveToTextFile (const std::string &file, TMatrixTextFileFormat fileFormat=MATRIX_FORMAT_ENG, bool appendMRPTHeader=false, const std::string &userHeader=std::string("")) const

Save matrix to a text file, compatible with MATLAB text format.

void loadFromTextFile (const std::string &file)

Load matrix from a text file, compatible with MATLAB text format.

Protected 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.

Protected Attributes

T ** m_Val

size_t m_Rows

size_t m_Cols

Detailed Description

template<class T>
class mrpt::math::CMatrixTemplate< 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. Use or declare derived classes for using serialization.
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".
Please DO NOT use as template class type any other class. It can be safely used the following types:
- Elemental types (int,char,float,doble,...)
- Data struct (Not classes!)
- Any kind of pointers (user is responsible for allocating and freeing the memory addressed by pointers).

Note:: Memory blocks for each row are 16-bytes aligned (since MRPT 0.7.0).

See also:: CMatrixTemplateNumeric

Definition at line 61 of file CMatrixTemplate.h.

Member Typedef Documentation

template<class T>

typedef const T& mrpt::math::CMatrixTemplate< T >::const_reference

Definition at line 67 of file CMatrixTemplate.h.

template<class T>

typedef std::ptrdiff_t mrpt::math::CMatrixTemplate< T >::difference_type

Definition at line 69 of file CMatrixTemplate.h.

template<class T>

typedef T& mrpt::math::CMatrixTemplate< T >::reference

Definition at line 66 of file CMatrixTemplate.h.

template<class T>

typedef std::size_t mrpt::math::CMatrixTemplate< T >::size_type

Definition at line 68 of file CMatrixTemplate.h.

template<class T>

typedef T mrpt::math::CMatrixTemplate< T >::value_type

The type of the matrix elements.

Definition at line 65 of file CMatrixTemplate.h.

Constructor & Destructor Documentation

template<class T>

mrpt::math::CMatrixTemplate< T >::CMatrixTemplate ( const CMatrixTemplate< T > & m ) [inline]

Constructors.

Definition at line 242 of file CMatrixTemplate.h.

template<class T>

mrpt::math::CMatrixTemplate< T >::CMatrixTemplate	(	size_t	row = `3`,
		size_t	col = `3`
	)			`[inline]`

Definition at line 247 of file CMatrixTemplate.h.

template<class T>

mrpt::math::CMatrixTemplate< T >::CMatrixTemplate	(	const CMatrixTemplate< T > &	m,
		const size_t	cropRowCount,
		const size_t	cropColCount
	)			`[inline]`

Copy constructor & crop from another matrix.

Definition at line 254 of file CMatrixTemplate.h.

template<class T>

template<typename V , size_t N>

mrpt::math::CMatrixTemplate< T >::CMatrixTemplate	(	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 275 of file CMatrixTemplate.h.

template<class T>

template<typename V >

mrpt::math::CMatrixTemplate< T >::CMatrixTemplate	(	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 290 of file CMatrixTemplate.h.

template<class T>

virtual mrpt::math::CMatrixTemplate< T >::~CMatrixTemplate ( ) [inline, virtual]

Destructor.

Definition at line 305 of file CMatrixTemplate.h.

Member Function Documentation

template<class T>

void mrpt::math::CMatrixTemplate< T >::appendCol ( const std::vector< T > & 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 585 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::appendRow ( const std::vector< T > & 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);
    vector_double  v(7),w(7);
    // ...
    M.appendRow(v);
    M.appendRow(w);

Exceptions:

std::exception

On incorrect vector length.

See also:: extractRow; appendCol

Definition at line 556 of file CMatrixTemplate.h.

template<class T>

template<size_t N>

void mrpt::math::CMatrixTemplate< T >::ASSERT_ENOUGHROOM	(	size_t	r,
		size_t	c
	)			const `[inline]`

Checks whether the rows [r-N,r+N] and the columns [c-N,c+N] are present in the matrix.

Definition at line 130 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::deleteColumn ( size_t col ) [inline]

Deletes a column of the matrix.

Definition at line 834 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::deleteRow ( size_t row ) [inline]

Deletes a row of the matrix.

Definition at line 824 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::exchangeColumns	(	size_t	col1,
		size_t	col2
	)			`[inline]`

Interchanges two columns of the matrix.

Definition at line 807 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::exchangeRows	(	size_t	row1,
		size_t	row2
	)			`[inline]`

Interchanges two rows of the matrix.

Definition at line 820 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::extractCol	(	size_t	nCol,
		std::vector< T > &	out,
		int	startingRow = `0`
	)			const `[inline]`

Returns a given column to a vector (without modifying the matrix)

Exceptions:

std::exception

On index out of bounds.

Definition at line 145 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::extractCol	(	size_t	nCol,
		CMatrixTemplate< T > &	out,
		int	startingRow = `0`
	)			const `[inline]`

Gets a given column to a vector (without modifying the matrix)

Exceptions:

std::exception

On index out of bounds.

Definition at line 163 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::extractColumns	(	size_t	firstCol,
		size_t	lastCol,
		CMatrixTemplate< T > &	out
	)			const `[inline]`

Gets a series of contiguous columns.

Exceptions:

std::logic_error

On index out of bounds

See also:: extractColumn; extractRows

Definition at line 524 of file CMatrixTemplate.h.

template<class T>

template<class R >

void mrpt::math::CMatrixTemplate< T >::extractMatrix	(	size_t	nRow,
		size_t	nCol,
		CMatrixTemplate< R > &	in
	)			const `[inline]`

Extract a sub matrix from a matrix:

Exceptions:

std::exception

On index out of bounds The output matrix must have been previously set to the desired size.

(by AJOGD @ JAN-2007)

Definition at line 848 of file CMatrixTemplate.h.

Referenced by mrpt::math::CMatrixTemplate< TPoint3D >::extractColumns(), and mrpt::math::CMatrixTemplate< TPoint3D >::extractRows().

template<class T>

void mrpt::math::CMatrixTemplate< T >::extractMatrix	(	size_t	nRow,
		size_t	nCol,
		size_t	nrows,
		size_t	ncols,
		CMatrixTemplate< T > &	outMat
	)			const `[inline]`

Extract a sub matrix from a matrix:

Exceptions:

std::exception

On index out of bounds The output matrix must have been previously set to the desired size.

(by AJOGD @ JAN-2007)

Definition at line 867 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::extractMatrix	(	size_t	nRow,
		size_t	nCol,
		std::vector< T > &	in
	)			const `[inline]`

Extract a sub matrix (vector) from a matrix:

Exceptions:

std::exception

On index out of bounds The output matrix must have been previously set to the desired size.

(by AJOGD @ JAN-2007)

Definition at line 887 of file CMatrixTemplate.h.

template<class T>

template<size_t NROWS, size_t NCOLS>

void mrpt::math::CMatrixTemplate< T >::extractMatrix	(	const size_t	nRow,
		const size_t	nCol,
		CMatrixFixedNumeric< T, NROWS, NCOLS > &	outMat
	)			const `[inline]`

Extract a sub matrix from a matrix (in the form of a fixed-size matrix)

Exceptions:

std::exception

On index out of bounds The output matrix settles the size of the submatrix to extract, and (nRow,nCol) are the indices of the first element in the submatrix: e.g.

(0,0) means extract a submatrix from the top-left corner

Definition at line 906 of file CMatrixTemplate.h.

template<class T>

std::vector<T> mrpt::math::CMatrixTemplate< T >::extractMatrix	(	size_t	nRow,
		size_t	nCol,
		size_t	ncols
	)			const `[inline]`

Extract a sub matrix (vector) from a matrix:

Exceptions:

std::exception

On index out of bounds The output matrix must have been previously set to the desired size.

(by AJOGD @ JAN-2007)

Definition at line 915 of file CMatrixTemplate.h.

template<class T>

template<class F >

void mrpt::math::CMatrixTemplate< T >::extractRow	(	size_t	nRow,
		std::vector< F > &	out,
		size_t	startingCol = `0`
	)			const `[inline]`

Gets a given row to a vector (without modifying the matrix)

Exceptions:

std::exception

On index out of bounds.

Definition at line 208 of file CMatrixTemplate.h.

Referenced by mrpt::utils::CImage::rectifyImageInPlace().

template<class T>

template<class F >

void mrpt::math::CMatrixTemplate< T >::extractRow	(	size_t	nRow,
		CMatrixTemplate< F > &	out,
		size_t	startingCol = `0`
	)			const `[inline]`

Gets a given row to a vector (without modifying the matrix)

Exceptions:

std::exception

On index out of bounds.

Definition at line 226 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::extractRows	(	size_t	firstRow,
		size_t	lastRow,
		CMatrixTemplate< T > &	out
	)			const `[inline]`

Gets a series of contiguous rows.

Exceptions:

std::logic_error

On index out of bounds

See also:: extractRow; extractColumns

Definition at line 515 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::extractSubmatrix	(	const size_t	row1,
		const size_t	row2,
		const size_t	col1,
		const size_t	col2,
		CMatrixTemplate< T > &	out
	)			const `[inline]`

Get a submatrix, given its bounds.

See also:: extractSubmatrixSymmetricalBlocks

Definition at line 715 of file CMatrixTemplate.h.

Referenced by mrpt::math::CMatrixTemplate< TPoint3D >::operator()().

template<class T>

void mrpt::math::CMatrixTemplate< T >::extractSubmatrixSymmetrical	(	const vector_size_t &	indices,
		CMatrixTemplate< T > &	out
	)			const `[inline]`

Get a submatrix from a square matrix, by collecting the elements M(idxs,idxs), where idxs is the sequence of indices passed as argument.

A perfect application of this method is in extracting covariance matrices of a subset of variables from the full covariance matrix.

See also:: extractSubmatrix, extractSubmatrixSymmetricalBlocks

Definition at line 778 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::extractSubmatrixSymmetricalBlocks	(	const size_t	block_size,
		const vector_size_t &	block_indices,
		CMatrixTemplate< T > &	out
	)			const `[inline]`

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)+block_size-1} for all "i" up to the size of block_indices.

A perfect application of this method is in extracting covariance matrices of a subset of variables from the full covariance matrix.

See also:: extractSubmatrix, extractSubmatrixSymmetrical

Definition at line 741 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::fillAll ( const T & val ) [inline]

Fill all the elements with a given value (Note: named "fillAll" since "fill" will be used by child classes)

Definition at line 136 of file CMatrixTemplate.h.

template<class T>

bool mrpt::math::CMatrixTemplate< T >::fromMatlabStringFormat ( const std::string & s ) [inline]

Read 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.

This format is also used for CConfigFile::read_matrix.

This template method can be instantiated for matrices of the types: int, long, unsinged int, unsigned long, float, double, long double

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 965 of file CMatrixTemplate.h.

Referenced by mrpt::math::CMatrixFixedNumeric< float, 4, 4 >::fromMatlabStringFormat(), mrpt::poses::CPose3D::fromString(), mrpt::poses::CPose2D::fromString(), mrpt::poses::CPoint3D::fromString(), and mrpt::poses::CPoint2D::fromString().

template<class T>

const T& mrpt::math::CMatrixTemplate< T >::get_unsafe	(	size_t	row,
		size_t	col
	)			const `[inline]`

Fast but unsafe method to read a value from the matrix.

Definition at line 473 of file CMatrixTemplate.h.

Referenced by mrpt::math::CMatrixFixedNumeric< float, 4, 4 >::CMatrixFixedNumeric(), mrpt::math::covariancesAndMean(), mrpt::poses::CPose3D::fromString(), mrpt::poses::CPose2D::fromString(), mrpt::poses::CPoint3D::fromString(), mrpt::poses::CPoint2D::fromString(), mrpt::math::detail::VicinityTraits< CMatrixTemplate< T > >::insertInContainer(), mrpt::math::detail::VicinityTraits< CMatrixTemplateNumeric< T > >::insertInContainer(), mrpt::math::detail::insertMatrixFixTransposeIntoDyn(), mrpt::math::CMatrixTemplateNumeric< KFTYPE >::operator=(), mrpt::math::CMatrixFixedNumeric< float, 4, 4 >::operator=(), mrpt::math::CMatrix::operator=(), and mrpt::bayes::CKalmanFilterCapable< 6, 3, 3, 6 >::runOneKalmanIteration().

template<class T>

T& mrpt::math::CMatrixTemplate< T >::get_unsafe	(	size_t	row,
		size_t	col
	)			`[inline]`

Fast but unsafe method to get a reference from the matrix.

Definition at line 484 of file CMatrixTemplate.h.

template<class T>

const T* mrpt::math::CMatrixTemplate< T >::get_unsafe_row ( size_t row ) const [inline]

Fast but unsafe method to obtain a pointer to a given row of the matrix (Use only in critical applications).

Definition at line 506 of file CMatrixTemplate.h.

template<class T>

T* mrpt::math::CMatrixTemplate< T >::get_unsafe_row ( size_t row ) [inline]

Fast but unsafe method to obtain a pointer to a given row of the matrix (Use only in time critical applications).

Definition at line 495 of file CMatrixTemplate.h.

Referenced by mrpt::math::detail::extractFixMatrixFromDynMatrix(), mrpt::math::detail::fixedToDynMatrix(), mrpt::math::detail::insertMatrixFixIntoDyn(), and mrpt::math::CMatrixFixedNumeric< float, 4, 4 >::operator=().

template<class T>

void mrpt::math::CMatrixTemplate< T >::getAsVector ( std::vector< T > & out ) const [inline]

Returns a vector containing the matrix's values.

Definition at line 1189 of file CMatrixTemplate.h.

template<class T>

size_t mrpt::math::CMatrixTemplate< T >::getColCount ( ) const [inline]

Number of columns in the matrix.

See also:: getRowCount, getColCount, nr, nc

Definition at line 359 of file CMatrixTemplate.h.

template<class T>

size_t mrpt::math::CMatrixTemplate< T >::getRowCount ( ) const [inline]

Number of rows in the matrix.

See also:: getRowCount, getColCount, nr, nc

Definition at line 354 of file CMatrixTemplate.h.

template<class T>

template<size_t N, typename ReturnType >

ReturnType mrpt::math::CMatrixTemplate< T >::getVicinity	(	size_t	c,
		size_t	r
	)			const `[inline]`

Method to retrieve the vicinity of an element, given its coordinates.

Current implementation allows up to then different vicinities (4, 5, 8, 9, 12, 13, 20, 21, 24 and 25) and two different return values: CMatrixTemplate<T> and vector<T>.

Definition at line 1323 of file CMatrixTemplate.h.

template<class T>

std::string mrpt::math::CMatrixTemplate< T >::inMatlabFormat ( const size_t decimal_digits = 6 ) const [inline]

Dump matrix in matlab format.

This template method can be instantiated for matrices of the types: int, long, unsinged int, unsigned long, float, double, long double

See also:: fromMatlabStringFormat

Definition at line 934 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::insertCol	(	size_t	nCol,
		const std::vector< T > &	in
	)			`[inline]`

Inserts a column from a vector, replacing the current contents of that column.

Exceptions:

std::exception

On index out of bounds

See also:: extractCol

Definition at line 600 of file CMatrixTemplate.h.

template<class T>

template<class MAT_R >

void mrpt::math::CMatrixTemplate< T >::insertMatrix	(	const size_t	nRow,
		const size_t	nCol,
		const MAT_R &	in
	)			`[inline]`

Inserts a matrix into this matrix Notice that the matrix must "fit" into the existing size of this matrix.

Parameters:

	in	The submatrix to insert into 'this' matrix.
	nRow	The row in 'this' matrix where the submatrix will be inserted (0:first).
	nCol	The column in 'this' matrix where the submatrix will be inserted (0:first).

Exceptions:

std::exception

On index out of bounds

See also:: extractCol

Definition at line 620 of file CMatrixTemplate.h.

Referenced by mrpt::math::CMatrixTemplate< TPoint3D >::joinMatrix().

template<class T>

template<size_t NROWS, size_t NCOLS>

void mrpt::math::CMatrixTemplate< T >::insertMatrix	(	const size_t	nRow,
		const size_t	nCol,
		const CMatrixFixedNumeric< T, NROWS, NCOLS > &	in
	)			`[inline]`

Inserts a fixed-size matrix into this matrix Notice that the matrix must "fit" into the existing size of this matrix.

Parameters:

	in	The submatrix to insert into 'this' matrix.
	nRow	The row in 'this' matrix where the submatrix will be inserted (0:first).
	nCol	The column in 'this' matrix where the submatrix will be inserted (0:first).

Exceptions:

std::exception

On index out of bounds

See also:: extractCol, insertMatrixTranspose

Definition at line 660 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::insertMatrix	(	size_t	nRow,
		size_t	nCol,
		const std::vector< T > &	in
	)			`[inline]`

Inserts a matrix line (vector) into this matrix Notice that the matrix must "fit" into the existing size of this matrix.

Exceptions:

std::exception

On index out of bounds

See also:: extractCol By AJOGD @ MAR-2007

Definition at line 683 of file CMatrixTemplate.h.

template<class T>

template<class MAT_R >

void mrpt::math::CMatrixTemplate< T >::insertMatrixTranspose	(	const size_t	nRow,
		const size_t	nCol,
		const MAT_R &	in
	)			`[inline]`

Inserts the transpose of a given matrix into this matrix Notice that the matrix must "fit" into the existing size of this matrix.

Parameters:

	in	The submatrix to insert into 'this' matrix.
	nRow	The row in 'this' matrix where the submatrix will be inserted (0:first).
	nCol	The column in 'this' matrix where the submatrix will be inserted (0:first).

Exceptions:

std::exception

On index out of bounds

See also:: extractCol

Definition at line 640 of file CMatrixTemplate.h.

template<class T>

template<size_t NROWS, size_t NCOLS>

void mrpt::math::CMatrixTemplate< T >::insertMatrixTranspose	(	const size_t	nRow,
		const size_t	nCol,
		const CMatrixFixedNumeric< T, NROWS, NCOLS > &	in
	)			`[inline]`

Inserts the transpose of a given fixed-size matrix into this matrix Notice that the matrix must "fit" into the existing size of this matrix.

Parameters:

	in	The submatrix to insert into 'this' matrix.
	nRow	The row in 'this' matrix where the submatrix will be inserted (0:first).
	nCol	The column in 'this' matrix where the submatrix will be inserted (0:first).

Exceptions:

std::exception

On index out of bounds

See also:: extractCol, insertMatrix

Definition at line 673 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::insertRow	(	size_t	nRow,
		const std::vector< T > &	in
	)			`[inline]`

Inserts a row from a vector, replacing the current contents of that row.

Exceptions:

std::exception

On index out of bounds

See also:: extractRow

Definition at line 532 of file CMatrixTemplate.h.

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

template<class T>

void mrpt::math::CMatrixTemplate< T >::insertRowsAndCols	(	const std::multiset< size_t > &	rows,
		const std::multiset< size_t > &	cols,
		const T &	defaultValue = `T()`
	)			`[inline]`

Inserts rows and columns as needed.

For example, if the row 3 exists twice in the multiset, two rows will be inserted _before_ the third row. Any index greater than the size will cause the column or row to be inserted right after the last element. THIS FUNCTION IS NOT SECURE TO USE WITH CMatrixTemplateObjects.

Definition at line 1273 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::joinMatrix	(	const CMatrixTemplate< T > &	left_up,
		const CMatrixTemplate< T > &	right_up,
		const CMatrixTemplate< T > &	left_down,
		const CMatrixTemplate< T > &	right_down
	)			`[inline]`

Inserts 4 matrixes corresponding to the "four corners" into this matrix.

Exceptions:

std::exception

On index out of bounds

See also:: insertMatrix

Definition at line 699 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::loadFromTextFile ( const std::string & file ) [inline]

Load matrix from a text file, compatible with MATLAB text format.

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

See also:: saveToTextFile, CMatrixTemplate::fromMatlabStringFormat

Definition at line 1055 of file CMatrixTemplate.h.

Referenced by mrpt::math::CVectorTemplate< KFTYPE >::loadFromTextFile().

template<class T>

T& mrpt::math::CMatrixTemplate< 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 407 of file CMatrixTemplate.h.

template<class T>

T mrpt::math::CMatrixTemplate< T >::operator() ( size_t ith ) const [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 435 of file CMatrixTemplate.h.

template<class T>

const T& mrpt::math::CMatrixTemplate< T >::operator()	(	size_t	row,
		size_t	col
	)			const `[inline]`

Subscript operator to get individual elements.

Definition at line 395 of file CMatrixTemplate.h.

template<class T>

CMatrixTemplate<T> mrpt::math::CMatrixTemplate< T >::operator()	(	const size_t	row1,
		const size_t	row2,
		const size_t	col1,
		const size_t	col2
	)			const `[inline]`

Subscript operator to get a submatrix.

Definition at line 731 of file CMatrixTemplate.h.

template<class T>

CMatrixTemplate<T> mrpt::math::CMatrixTemplate< T >::operator()	(	const std::vector< size_t > &	rows,
		const std::vector< size_t > &	cols
	)			const `[inline]`

Returns a submatrix with random indices to the matrix, à la Matlab.

Definition at line 1197 of file CMatrixTemplate.h.

template<class T>

T& mrpt::math::CMatrixTemplate< T >::operator()	(	size_t	row,
		size_t	col
	)			`[inline]`

Subscript operator to get/set individual elements.

Definition at line 384 of file CMatrixTemplate.h.

Referenced by mrpt::math::CMatrixTemplate< TPoint3D >::operator()(), and mrpt::math::CMatrixTemplate< TPoint3D >::removeRowsAndCols().

template<class T>

template<typename V , size_t N>

CMatrixTemplate& mrpt::math::CMatrixTemplate< 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 CMatrixTemplate::CMatrixTemplate

Reimplemented in mrpt::math::CMatrixTemplateNumeric< T >, mrpt::math::CMatrixTemplateNumeric< NUMTYPE >, mrpt::math::CMatrixTemplateNumeric< double >, mrpt::math::CMatrixTemplateNumeric< kftype >, and mrpt::math::CMatrixTemplateNumeric< KFTYPE >.

Definition at line 334 of file CMatrixTemplate.h.

template<class T>

CMatrixTemplate& mrpt::math::CMatrixTemplate< T >::operator= ( const CMatrixTemplate< T > & m ) [inline]

Assignment operator from another matrix.

Definition at line 312 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::realloc	(	size_t	row,
		size_t	col,
		bool	newElementsToZero = `false`
	)			`[inline, protected]`

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

Definition at line 78 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::removeColumns	(	const mrpt::vector_size_t &	idxsToRemove,
		bool	vectorIsAlreadySorted = `false`
	)			`[inline]`

Removes a set of columns by their indexes (0:first), given by the vector "idxsToRemove".

Parameters:

vectorIsAlreadySorted

Can be set to true only when it can be assured that the vector of indices is sorted in ascending order. Otherwise, the method will sort it internally.

Note:: All the indices MUST BE UNIQUE. Behavior on duplicated indices is undefined.

Exceptions:

std::exception

On index out of bounds

Definition at line 1144 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::removeRowsAndCols	(	const std::set< size_t > &	rows,
		const std::set< size_t > &	cols
	)			`[inline]`

Removes arbitrary rows and columns from the matrix.

Definition at line 1214 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::resize	(	const CMatrixTemplateSize &	siz,
		bool	zeroNewElements = `false`
	)			`[inline]`

This method just checks has no effects in this class, but raises an exception if the expected size does not match.

Definition at line 377 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::saveToTextFile	(	const std::string &	file,
		TMatrixTextFileFormat	fileFormat = `MATRIX_FORMAT_ENG`,
		bool	appendMRPTHeader = `false`,
		const std::string &	userHeader = `std::string("")`
	)			const `[inline]`

Save matrix to a text file, compatible with MATLAB 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, CMatrixTemplate::inMatlabFormat, SAVE_MATRIX

Reimplemented in mrpt::math::CMatrixTemplateNumeric< T >, mrpt::math::CMatrixTemplateNumeric< NUMTYPE >, mrpt::math::CMatrixTemplateNumeric< double >, mrpt::math::CMatrixTemplateNumeric< kftype >, and mrpt::math::CMatrixTemplateNumeric< KFTYPE >.

Definition at line 1041 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::set_unsafe	(	size_t	row,
		size_t	col,
		const T &	v
	)			`[inline]`

Fast but unsafe method to write a value in the matrix.

Definition at line 462 of file CMatrixTemplate.h.

Referenced by mrpt::math::CMatrixTemplate< TPoint3D >::extractMatrix(), mrpt::math::CMatrixTemplate< TPoint3D >::insertMatrix(), mrpt::math::CMatrixTemplate< TPoint3D >::insertMatrixTranspose(), mrpt::math::leastSquareLinearFit(), and mrpt::bayes::CKalmanFilterCapable< 6, 3, 3, 6 >::runOneKalmanIteration().

template<class T>

void mrpt::math::CMatrixTemplate< T >::setSize	(	size_t	row,
		size_t	col,
		bool	zeroNewElements = `false`
	)			`[inline]`

Changes the size of matrix, maintaining the previous contents.

Definition at line 371 of file CMatrixTemplate.h.

Referenced by mrpt::math::CMatrixTemplate< TPoint3D >::extractCol(), mrpt::math::CMatrixTemplate< TPoint3D >::extractMatrix(), mrpt::math::CMatrixTemplate< TPoint3D >::extractRow(), mrpt::math::CMatrixTemplate< TPoint3D >::fromMatlabStringFormat(), mrpt::poses::CPose2DGridTemplate< double >::getAsMatrix(), mrpt::math::detail::VicinityTraits< CMatrixTemplate< T > >::initialize(), mrpt::math::CMatrixTemplate< TPoint3D >::joinMatrix(), mrpt::math::CMatrixTemplate< TPoint3D >::removeColumns(), and mrpt::math::CMatrixTemplate< TPoint3D >::resize().

template<class T>

const CMatrixTemplateSize& mrpt::math::CMatrixTemplate< T >::size ( ) const [inline]

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

Definition at line 362 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::swapCols	(	size_t	nCol1,
		size_t	nCol2
	)			`[inline]`

Swap two columns

Exceptions:

std::exception

On index out of bounds.

Definition at line 181 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::swapRows	(	size_t	nRow1,
		size_t	nRow2
	)			`[inline]`

Swap two rows

Exceptions:

std::exception

On index out of bounds.

Definition at line 195 of file CMatrixTemplate.h.

Referenced by mrpt::math::CMatrixTemplate< TPoint3D >::exchangeRows().

Member Data Documentation

template<class T>

size_t mrpt::math::CMatrixTemplate< T >::m_Cols [protected]

Definition at line 74 of file CMatrixTemplate.h.

template<class T>

size_t mrpt::math::CMatrixTemplate< T >::m_Rows [protected]

Definition at line 74 of file CMatrixTemplate.h.

template<class T>

T** mrpt::math::CMatrixTemplate< T >::m_Val [protected]

Definition at line 73 of file CMatrixTemplate.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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