This template class extends the class "CMatrixTemplate" with many common operations with numerical matrixes. More...

#include <mrpt/math/CMatrixTemplateNumeric.h>

Inheritance diagram for mrpt::math::CMatrixTemplateNumeric< T >:

Collaboration diagram for mrpt::math::CMatrixTemplateNumeric< T >:

Classes
struct	mrpt_container
Public Types
enum	dummy_enum { mrpt_matrix_type_ncols = -1, mrpt_matrix_type_nrows = -1 }
typedef CMatrixTemplate< T >	BASE
typedef CMatrixTemplateNumeric< T >	mrpt_autotype
Public Member Functions
Methods common to all containers

size_t	countNonZero () const
void	fill (const T &val)
T	maximum (size_t *maxIndex=NULL) const
T	minimum (size_t *minIndex=NULL) const
void	minimum_maximum (T &out_min, T &out_max, size_t minIndex=NULL, size_t maxIndex=NULL) const
T	norm_inf (size_t *maxIndex=NULL) const
T	sumAll () const
template<class CONTAINEROUT >
void	cumsum (CONTAINEROUT &out) const
template<class CONTAINEROUT >
CONTAINEROUT	cumsum () const
template<class CONTAINER2 >
size_t	countCommonElements (const CONTAINER2 &b) const
	Counts the number of elements that appear in both containers (comparison through the == operator).
std::vector< double >	histogram (double limit_min, double limit_max, size_t number_bins, bool do_normalization=false) const
	Computes the normalized or normal histogram of a sequence of numbers given the number of bins and the limits.
template<class F >
mrpt_autotype &	applyToAllElements (T(*function)(T))
mrpt_autotype &	Sqrt ()
mrpt_autotype &	Abs ()
mrpt_autotype &	Square ()
mrpt_autotype &	Exp ()
mrpt_autotype &	Log ()
T	squareNorm () const
T	norm () const
T	mean () const
void	adjustRange (const T min_val, const T max_val)
void	normalize (const T min_val=0, const T max_val=1)
double	std (bool unbiased=true) const
void	meanAndStd (double &out_mean, double &out_std, bool unbiased=true)
Methods common to all matrices

mrpt_autotype	operator+ ()
mrpt_autotype	operator- () const
mrpt_autotype &	operator+= (const T n)
mrpt_autotype &	operator-= (const T n)
mrpt_autotype &	operator*= (const T n)
mrpt_autotype &	operator/= (const T n)
template<typename OTHERMATRIX >
OTHERMATRIX::template mrpt_matrix_tag_templ< void > ::void_type	operator*= (const OTHERMATRIX &m)
template<typename OTHERMATRIX >
mrpt_autotype &	add_At (const OTHERMATRIX &m)
template<typename OTHERMATRIX >
mrpt_autotype &	add_Ac (const OTHERMATRIX &m, const T c)
template<typename OTHERMATRIX >
mrpt_autotype &	substract_At (const OTHERMATRIX &m)
template<typename OTHERMATRIX >
mrpt_autotype &	substract_An (const OTHERMATRIX &m, const size_t n)
template<typename OTHERMATRIX >
mrpt_autotype &	substract_Ac (const OTHERMATRIX &m, const T c)
template<typename OTHERMATRIX >
mrpt_autotype &	add_AAt (const OTHERMATRIX &m)
template<typename OTHERMATRIX >
mrpt_autotype &	substract_AAt (const OTHERMATRIX &m)
bool	empty () const
template<class MATRIX1 , class MATRIX2 >
void	multiply (const MATRIX1 &A, const MATRIX2 &B)
template<typename OTHERVECTOR1 , typename OTHERVECTOR2 >
void	multiply_Ab (const OTHERVECTOR1 &vIn, OTHERVECTOR2 &vOut, bool accumToOutput=false) const
template<typename OTHERVECTOR1 , typename OTHERVECTOR2 >
void	multiply_Atb (const OTHERVECTOR1 &vIn, OTHERVECTOR2 &vOut, bool accumToOutput=false) const
template<typename MAT_C , typename MAT_R >
void	multiply_HCHt (const MAT_C &C, MAT_R &R, bool accumResultInOutput=false, bool allow_submatrix_mult=false) const
template<typename MAT_C >
T	multiply_HCHt_scalar (const MAT_C &C) const
template<typename MAT_C >
T	multiply_HtCH_scalar (const MAT_C &C) const
template<typename MAT_C , typename MAT_R >
void	multiply_HtCH (const MAT_C &C, MAT_R &R, bool accumResultInOutput=false, bool allow_submatrix_mult=false) const
template<class MAT_A , class MAT_OUT >
void	multiply_subMatrix (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) const
template<class MAT_A , class MAT_B , class MAT_C >
void	multiply_ABC (const MAT_A &A, const MAT_B &B, const MAT_C &C)
template<class MAT_A , class MAT_B , class MAT_C >
void	multiply_ABCt (const MAT_A &A, const MAT_B &B, const MAT_C &C)
template<class MAT_A , class MAT_B >
void	multiply_ABt (const MAT_A &A, const MAT_B &B)
template<class MAT_A >
void	multiply_AAt (const MAT_A &A)
template<class MAT_A >
void	multiply_AtA (const MAT_A &A)
template<class MAT_A , class MAT_B >
void	multiply_result_is_symmetric (const MAT_A &A, const MAT_B &B)
T	_E (const size_t row, const size_t col) const
T &	_E (const size_t row, const size_t col)
bool	IsSquare () const
bool	isSquare () const
bool	isSingular (const T epsilon=0) const
T	trace () const
template<class MAT_OUT >
void	pseudoInverse (MAT_OUT &out) const
template<class MAT_OUT >
MAT_OUT	pseudoInverse () const
T	det () const
template<class MATRIXOUT >
void	inv (MATRIXOUT &out) const
mrpt_autotype	inv () const
template<class MATRIXOUT >
void	inv_fast (MATRIXOUT &out)
template<class MAT2 , class MAT3 >
void	leftDivideSquare (const MAT2 &A, MAT3 &RES) const
template<class MAT2 , class MAT3 >
void	rightDivideSquare (const MAT2 &B, MAT3 &RES) const
template<typename MAT2 >
void	fastLeftDivideSquare (MAT2 &A)
template<typename MAT2 >
void	fastRightDivideSquare (MAT2 &B)
void	saveToTextFile (const std::string &file, mrpt::math::TMatrixTextFileFormat fileFormat=MATRIX_FORMAT_ENG, bool appendMRPTHeader=false, const std::string &userHeader=std::string("")) const
int	pivot (const size_t row)
template<class MATRIXOUT >
bool	chol (MATRIXOUT &out) const
template<class MATRIX1 , class MATRIX2 >
MATRIX1::template mrpt_matrix_tag_templ < typename MATRIX2::mrpt_matrix_tag > ::void_type	eigenVectors (MATRIX1 &eVecs, MATRIX2 &eVals) const
template<class MATRIX1 , class VECTOR1 >
void	eigenVectorsVec (MATRIX1 &eVecs, VECTOR1 &eVals) const
template<class VECTOR1 >
void	eigenValues (VECTOR1 &eVals) const
void	setIdentity ()
void	setIdentity (size_t N)
template<typename OTHERMATRIX >
mrpt_autotype &	assignMatrix (const OTHERMATRIX &m)
size_t	rank (T eps=1e-7) const
template<class R >
	CMatrixTemplateNumeric (const CMatrixTemplate< R > &m)
	Copy constructor from a matrix of any type.
	CMatrixTemplateNumeric ()
	Default constructor, builds a 1x1 matrix.
	CMatrixTemplateNumeric (bool, bool, bool)
	Default constructor, builds a 0x0 matrix, with a signature identical to that of the fixed matrix constructor for uninitialized matrix constructor.
	CMatrixTemplateNumeric (size_t row, size_t col)
	Constructor.
	CMatrixTemplateNumeric (const CMatrixTemplate< T > &m, const size_t cropRowCount, const size_t cropColCount)
	Copy & crop constructor, which copies the given matrix but only up to the given size.
template<typename V , size_t N>
	CMatrixTemplateNumeric (size_t row, size_t col, V(&theArray)[N])
	Constructor from a given size and a C array.
template<typename V >
	CMatrixTemplateNumeric (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	~CMatrixTemplateNumeric ()
	Destructor.
	CMatrixTemplateNumeric (const mrpt::poses::CPose2D &p)
	Constructor from a mrpt::poses::CPose2D, which generates a 3x1 matrix $[x y \phi]^T$ .
	CMatrixTemplateNumeric (const mrpt::poses::CPose3D &p)
	Constructor from a mrpt::poses::CPose6D, which generates a 6x1 matrix .
	CMatrixTemplateNumeric (const mrpt::poses::CPoint2D &p)
	Constructor from a mrpt::poses::CPoint2D, which generates a 2x1 matrix .
	CMatrixTemplateNumeric (const mrpt::poses::CPoint3D &p)
	Constructor from a mrpt::poses::CPoint3D, which generates a 3x1 matrix .
template<size_t NROWS, size_t NCOLS>
	CMatrixTemplateNumeric (const CMatrixFixedNumeric< T, NROWS, NCOLS > &M)
	Copy constructor from a fixed-size matrix.
template<size_t NROWS, size_t NCOLS>
CMatrixTemplateNumeric &	operator= (const CMatrixFixedNumeric< T, NROWS, NCOLS > &M)
	Copy operator from a fixed-size matrix.
template<class R >
CMatrixTemplateNumeric< T > &	operator= (const CMatrixTemplateNumeric< R > &m)
	Assignment operator of other types.
template<typename V , size_t N>
CMatrixTemplateNumeric &	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).
CMatrixTemplateNumeric< T > &	operator= (const CMatrixTemplateNumeric< T > &m)
	Assignment operator for the same type.
void	setSize (size_t row, size_t col)
	Changes the size of matrix, maintaining its previous content as possible and padding with zeros where applicable.
void	resize (size_t row, size_t col)
	Changes the size of matrix, maintaining its previous content as possible and padding with zeros where applicable.
void	resize (const CMatrixTemplateSize &siz)
	This method just checks has no effects in this class, but raises an exception if the expected size does not match.
void	laplacian (CMatrixTemplateNumeric< T > &ret) const
	Computes the laplacian of the matrix, useful for graph matrixes.
void	svd (CMatrixTemplateNumeric< T > &U, std::vector< T > &W, CMatrixTemplateNumeric< T > &V) const
	Computes the SVD (Singular Value Decomposition) of the matrix.
CMatrixTemplateNumeric< T >	largestEigenvector (T resolution=0.01f, size_t maxIterations=6, int out_Iterations=NULL, float out_estimatedResolution=NULL) const
	Efficiently computes only the biggest eigenvector of the matrix using the Power Method, and returns it as a column vector.
CMatrixTemplateNumeric< T > &	operator^= (const unsigned int &pow)
	combined power and assignment operator
void	scalarPow (T s)
	Scalar power of all elements to a given power, this is diferent of ^ operator.
void	zeros (const size_t row, const size_t col)
	Set all elements to zero.
void	zeros ()
	Set all elements to zero.
void	ones (const size_t row, const size_t col)
	Set all elements to one.
void	ones ()
	Set all elements to one.
void	unit (const size_t row)
	Build an unit matrix.
void	unit ()
	Build an unit matrix.
CMatrixTemplateNumeric< T >	solve (const CMatrixTemplateNumeric< T > &v) const
	Solve the matrix as linear equations system.
CMatrixTemplateNumeric< T >	adj () const
	Computes the adjunt of matrix.
T	cofact (size_t row, size_t col) const
	Computes the rank of the matrix using a slight variation of Gauss method.
T	cond ()
	Computes the cond.
bool	isDiagonal () const
	Checks for matrix type.
bool	isScalar () const
	Checks for matrix type.
bool	isUnit () const
	Checks for matrix type.
bool	isNull () const
	Checks for matrix type.
bool	isSymmetric () const
	Checks for matrix type.
bool	isSkewSymmetric () const
	Checks for matrix type.
bool	isUpperTriangular () const
	Checks for matrix type.
bool	isLowerTriangular () const
	Checks for matrix type.
void	matrix_floor ()
	Round towards minus infinity modifying the matrix (by AJOGD @ JAN-2007).
void	matrix_floor (CMatrixTemplateNumeric< T > &out)
	Round towards minus infinity (by AJOGD @ JAN-2007).
void	matrix_ceil ()
	Round towards plus infinity (by AJOGD @ JAN-2007).
void	find_index_max_value (size_t &umax, size_t &vmax, T &max_val) const
	Finds the maximum value in the matrix, and returns its position.
T	maximumDiagonal () const
	Finds the maximum value in the diagonal of the matrix.
void	find_index_min_value (size_t &umin, size_t &vmin, T &min_val) const
	Finds the minimum value in the matrix, and returns its position.
void	force_symmetry ()
	Force symmetry in the matrix (by AJOGD @ JAN-2007).
void	mean (std::vector< T > &outMeanVector) const
	Computes a row with the mean values of each column in the matrix.
void	meanAndStd (std::vector< T > &outMeanVector, std::vector< T > &outStdVector) const
	Computes a row with the mean values of each column in the matrix and the associated vector with the standard deviation of each column.
void	meanAndStdAll (T &outMean, T &outStd) const
	Computes the mean and standard deviation of all the elements in the matrix as a whole.
void	asCol (CMatrixTemplateNumeric< T > &aux) const
void	asRow (CMatrixTemplateNumeric< T > &aux) const
void	findElementsPassingMahalanobisThreshold (double stdTimes, std::vector< size_t > &rowIndexes, std::vector< size_t > &colIndexes, bool below=false) const
	Finds elements whose values are a given number of times above (or below) the mean, in 1D Mahalanobis distance.
T	sum (size_t firstRow=0, size_t firstCol=0, size_t lastRow=std::numeric_limits< size_t >::max(), size_t lastCol=std::numeric_limits< size_t >::max()) const
	Returns the sum of a given part of the matrix.
void	multiplyByMatrixAndByTransposeNonSymmetric (const CMatrixTemplateNumeric< T > &C, CMatrixTemplateNumeric< T > &R, bool accumOnOutput=false, bool substractInsteadOfSum=false) const
	Computes: R = H * C * H^t , where H is this matrix.

Detailed Description

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

This template class extends the class "CMatrixTemplate" with many common operations with numerical matrixes.

The template can be instanced for data types: float, double, long double

The following operators have been implemented:

Implemented Operators	Meaning
x=M(i,j) M(i,j)=x	This () operator is used to access/change the element at i'th row, j'th column. First index is 0.
!M	The matrix inverse M^-1
~M	The matrix transpose M^T
(M^n)	Power of a matrix: (MMM*...M) n times. Use parenthesis with this operator. Use "scalarPow" for the power of individual elements in the matrix.
M1 = M2	Assignment operator: Copy matrix M2 to M1
M1 == M2 M1 != M2	Logical comparison: Returns true or false if all elements are identical.
x * M	Scalar multiplication
M1 * M2	Matrix multiplication, with the usual mathematical meaning
M1 + M2 M1 M2	Matrixes addition and substraction.
M / x	Scalar division
M1 / M2	Equivalent to (M1 * M2^-1)
stream << M;	Write to a binary CStream, since this class is CSerializable
stream >> M;	Read from a binary CStream, since this class is CSerializable

Member Typedef Documentation

template<class T>

typedef CMatrixTemplate<T> mrpt::math::CMatrixTemplateNumeric< T >::BASE

Definition at line 113 of file CMatrixTemplateNumeric.h.

template<class T>

typedef CMatrixTemplateNumeric<T> mrpt::math::CMatrixTemplateNumeric< T >::mrpt_autotype

Definition at line 114 of file CMatrixTemplateNumeric.h.

Member Enumeration Documentation

template<class T>

enum mrpt::math::CMatrixTemplateNumeric::dummy_enum

Enumerator:

mrpt_matrix_type_ncols
mrpt_matrix_type_nrows

Definition at line 116 of file CMatrixTemplateNumeric.h.

Constructor & Destructor Documentation

template<class T>

template<class R >

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

Copy constructor from a matrix of any type.

Definition at line 123 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( )

Default constructor, builds a 1x1 matrix.

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric	(	bool	,
		bool	,
		bool
	)			`[inline]`

Default constructor, builds a 0x0 matrix, with a signature identical to that of the fixed matrix constructor for uninitialized matrix constructor.

Definition at line 136 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric	(	size_t	row,
		size_t	col
	)

Constructor.

template<class T>

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

Copy & crop constructor, which copies the given matrix but only up to the given size.

Definition at line 144 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename V , size_t N>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric	(	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 156 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename V >

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric	(	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 162 of file CMatrixTemplateNumeric.h.

template<class T>

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

Destructor.

Definition at line 167 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( const mrpt::poses::CPose2D & p ) [explicit]

Constructor from a mrpt::poses::CPose2D, which generates a 3x1 matrix $[x y \phi]^T$ .

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( const mrpt::poses::CPose3D & p ) [explicit]

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

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( const mrpt::poses::CPoint2D & p ) [explicit]

Constructor from a mrpt::poses::CPoint2D, which generates a 2x1 matrix $ [x y]^T $ .

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( const mrpt::poses::CPoint3D & p ) [explicit]

Constructor from a mrpt::poses::CPoint3D, which generates a 3x1 matrix $ [x y z]^T $ .

template<class T>

template<size_t NROWS, size_t NCOLS>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( const CMatrixFixedNumeric< T, NROWS, NCOLS > & M ) [inline, explicit]

Copy constructor from a fixed-size matrix.

Note:: Method implemented in CMatrixFixedNumeric.h

Definition at line 190 of file CMatrixTemplateNumeric.h.

Member Function Documentation

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::_E	(	const size_t	row,
		const size_t	col
	)			const `[inline]`

Alternative access to element (i,j) with first index being (1,1) instead of (0,0)

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

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

Alternative access to element (i,j) with first index being (1,1) instead of (0,0)

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::Abs ( ) [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename OTHERMATRIX >

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::add_AAt ( const OTHERMATRIX & m ) [inline]

this += A + A^T

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename OTHERMATRIX >

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::add_Ac	(	const OTHERMATRIX &	m,
		const T	c
	)			`[inline]`

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename OTHERMATRIX >

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::add_At ( const OTHERMATRIX & m ) [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

CMatrixTemplateNumeric<T> mrpt::math::CMatrixTemplateNumeric< T >::adj ( ) const

Computes the adjunt of matrix.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::adjustRange	(	const T	min_val,
		const T	max_val
	)			`[inline]`

Parameters:

max_val

Normalize all the elements such as they are in the given range

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<class F >

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::applyToAllElements ( T(*)(T) function ) [inline]

Applies a generic operation "T func(T val)" to all the elements.

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::asCol ( CMatrixTemplateNumeric< T > & aux ) const

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::asRow ( CMatrixTemplateNumeric< T > & aux ) const

template<class T>

template<typename OTHERMATRIX >

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::assignMatrix ( const OTHERMATRIX & m ) [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<class MATRIXOUT >

bool mrpt::math::CMatrixTemplateNumeric< T >::chol ( MATRIXOUT & out ) const [inline]

Cholesky factorization: in = out' * out

Returns:: True on success, false on singular matrix

See also:: mrpt::math::chol

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::cofact	(	size_t	row,
		size_t	col
	)			const

Computes the rank of the matrix using a slight variation of Gauss method.

Computes the cofact.

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::cond ( )

Computes the cond.

template<class T>

template<class CONTAINER2 >

size_t mrpt::math::CMatrixTemplateNumeric< T >::countCommonElements ( const CONTAINER2 & b ) const [inline]

Counts the number of elements that appear in both containers (comparison through the == operator).

It is assumed that no repeated elements appear within each of the containers.

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

size_t mrpt::math::CMatrixTemplateNumeric< T >::countNonZero ( ) const [inline]

Count how many elements in a container are non-zero.

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<class CONTAINEROUT >

CONTAINEROUT mrpt::math::CMatrixTemplateNumeric< T >::cumsum ( ) const [inline]

Cumsum of all the elements, returning a container of the given type, for example: CMatrixDouble m = mat.cumsum<CMatrixDouble>();

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<class CONTAINEROUT >

void mrpt::math::CMatrixTemplateNumeric< T >::cumsum ( CONTAINEROUT & out ) const [inline]

Cumsum of all the elements, saving in an output container

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::det ( ) const [inline]

< Returns the determinant of the matrix

Definition at line 118 of file CMatrixTemplateNumeric.h.

Referenced by mrpt::math::normalPDF(), and mrpt::math::productIntegralTwoGaussians().

template<class T>

template<class VECTOR1 >

void mrpt::math::CMatrixTemplateNumeric< T >::eigenValues ( VECTOR1 & eVals ) const [inline]

Return the eigenvalues of the matrix in an ordered vector.

See also:: eigenVectors

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<class MATRIX1 , class MATRIX2 >

MATRIX1 ::template mrpt_matrix_tag_templ<typename MATRIX2 ::mrpt_matrix_tag>::void_type mrpt::math::CMatrixTemplateNumeric< T >::eigenVectors	(	MATRIX1 &	eVecs,
		MATRIX2 &	eVals
	)			const `[inline]`

Eigenvalues and eigenvector of symmetric matrix: M = eVecs * eVals * eVecs^T, with eigenvectors in columns in eVecs, eigenvalues in ascending order in diagonal of eVals

See also:: eigenVectorsVec, eigenValues

Definition at line 118 of file CMatrixTemplateNumeric.h.

Referenced by mrpt::utils::CEnhancedMetaFile::ellipseGaussian(), and mrpt::utils::CCanvas::ellipseGaussian().

template<class T>

template<class MATRIX1 , class VECTOR1 >

void mrpt::math::CMatrixTemplateNumeric< T >::eigenVectorsVec	(	MATRIX1 &	eVecs,
		VECTOR1 &	eVals
	)			const `[inline]`

Like eigenVectors, but eigenvalues are returned in a vector instead of a matrix's diagonal.

See also:: eigenVectors,eigenValues

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::empty ( ) const [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::Exp ( ) [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename MAT2 >

void mrpt::math::CMatrixTemplateNumeric< T >::fastLeftDivideSquare ( MAT2 & A ) [inline]

Matrix left divide: this = A^-1 · this (A must be a square matrix, and will be modified on return).

See also:: leftDivideSquare,fastRightDivideSquare

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename MAT2 >

void mrpt::math::CMatrixTemplateNumeric< T >::fastRightDivideSquare ( MAT2 & B ) [inline]

Matrix right divide: this = this · B^-1 (B must be a square matrix, and will be modified on return).

See also:: leftDivideSquare,fastRightDivideSquare

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::fill ( const T & val ) [inline]

Fill all the elements with a given value

Definition at line 118 of file CMatrixTemplateNumeric.h.

Referenced by mrpt::math::detail::VicinityTraits< CMatrixTemplateNumeric< T > >::initialize().

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::find_index_max_value	(	size_t &	umax,
		size_t &	vmax,
		T &	max_val
	)			const

Finds the maximum value in the matrix, and returns its position.

(by AJOGD @ JAN-2007)

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::find_index_min_value	(	size_t &	umin,
		size_t &	vmin,
		T &	min_val
	)			const

Finds the minimum value in the matrix, and returns its position.

(by AJOGD @ JAN-2007)

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::findElementsPassingMahalanobisThreshold	(	double	stdTimes,
		std::vector< size_t > &	rowIndexes,
		std::vector< size_t > &	colIndexes,
		bool	below = `false`
	)			const

Finds elements whose values are a given number of times above (or below) the mean, in 1D Mahalanobis distance.

This returns two lists with the "row" and "column" indexes (i,j) of those elements m[i][j] such as: m[i][j] > mean(matrix) + stdTimes·std(matrix) The elements below the threshold mean(matrix) - stdTimes·std(matrix) can also be obtained setting "below" to "true".

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::force_symmetry ( )

Force symmetry in the matrix (by AJOGD @ JAN-2007).

template<class T>

std::vector<double> mrpt::math::CMatrixTemplateNumeric< T >::histogram	(	double	limit_min,
		double	limit_max,
		size_t	number_bins,
		bool	do_normalization = `false`
	)			const `[inline]`

Computes the normalized or normal histogram of a sequence of numbers given the number of bins and the limits.

In any case this is a "linear" histogram, i.e. for matrices, all the elements are taken as if they were a plain sequence, not taking into account they were in columns or rows.

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt_autotype mrpt::math::CMatrixTemplateNumeric< T >::inv ( ) const [inline]

< mrpt_autotype out = inv(this)

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<class MATRIXOUT >

void mrpt::math::CMatrixTemplateNumeric< T >::inv ( MATRIXOUT & out ) const [inline]

< out = inv(this)

Definition at line 118 of file CMatrixTemplateNumeric.h.

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

template<class T>

template<class MATRIXOUT >

void mrpt::math::CMatrixTemplateNumeric< T >::inv_fast ( MATRIXOUT & out ) [inline]

Parameters:

out

out = inv(this), overwriting contents of this

Definition at line 118 of file CMatrixTemplateNumeric.h.

Referenced by mrpt::math::leastSquareLinearFit(), and mrpt::math::productIntegralTwoGaussians().

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isDiagonal ( ) const

Checks for matrix type.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isLowerTriangular ( ) const

Checks for matrix type.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isNull ( ) const

Checks for matrix type.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isScalar ( ) const

Checks for matrix type.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isSingular ( const T epsilon = 0 ) const [inline]

Checks for the absolute value of the determinant of the matrix being equal or below a given threshold (by default, exactly zero).

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isSkewSymmetric ( ) const

Checks for matrix type.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isSquare ( ) const [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::IsSquare ( ) const [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isSymmetric ( ) const

Checks for matrix type.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isUnit ( ) const

Checks for matrix type.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isUpperTriangular ( ) const

Checks for matrix type.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::laplacian ( CMatrixTemplateNumeric< T > & ret ) const

Computes the laplacian of the matrix, useful for graph matrixes.

template<class T>

CMatrixTemplateNumeric<T> mrpt::math::CMatrixTemplateNumeric< T >::largestEigenvector	(	T	resolution = `0.01f`,
		size_t	maxIterations = `6`,
		int *	out_Iterations = `NULL`,
		float *	out_estimatedResolution = `NULL`
	)			const

Efficiently computes only the biggest eigenvector of the matrix using the Power Method, and returns it as a column vector.

The computation time for this method, in a Pentium 4 1.4Ghz is:
T = 7.0867e-008*n² + 1.9191e-005*n + 0.0017494 seconds
where N is the matrix size.

template<class T>

template<class MAT2 , class MAT3 >

void mrpt::math::CMatrixTemplateNumeric< T >::leftDivideSquare	(	const MAT2 &	A,
		MAT3 &	RES
	)			const `[inline]`

Matrix left divide: RES = A^-1 · this (A must be a square matrix).

See also:: rightDivideSquare,fastLeftDivideSquare

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::Log ( ) [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::matrix_ceil ( )

Round towards plus infinity (by AJOGD @ JAN-2007).

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::matrix_floor ( )

Round towards minus infinity modifying the matrix (by AJOGD @ JAN-2007).

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::matrix_floor ( CMatrixTemplateNumeric< T > & out )

Round towards minus infinity (by AJOGD @ JAN-2007).

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::maximum ( size_t * maxIndex = NULL ) const [inline]

Finds the maximum value (and the corresponding zero-based index).

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::maximumDiagonal ( ) const

Finds the maximum value in the diagonal of the matrix.

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::mean ( ) const [inline]

Return the mean of the container (for matrices, as if it were a vector with all its elements).

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::mean ( std::vector< T > & outMeanVector ) const

Computes a row with the mean values of each column in the matrix.

See also:: meanAndStdAll

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::meanAndStd	(	double &	out_mean,
		double &	out_std,
		bool	unbiased = `true`
	)			`[inline]`

Return the mean and standard deviation of all the elements in the container.

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::meanAndStd	(	std::vector< T > &	outMeanVector,
		std::vector< T > &	outStdVector
	)			const

Computes a row with the mean values of each column in the matrix and the associated vector with the standard deviation of each column.

See also:: mean,meanAndStdAll

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::meanAndStdAll	(	T &	outMean,
		T &	outStd
	)			const

Computes the mean and standard deviation of all the elements in the matrix as a whole.

See also:: mean,meanAndStd

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::minimum ( size_t * minIndex = NULL ) const [inline]

Finds the minimum value (and the corresponding zero-based index).

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::minimum_maximum	(	T &	out_min,
		T &	out_max,
		size_t *	minIndex = `NULL`,
		size_t *	maxIndex = `NULL`
	)			const `[inline]`

Minimum and maximum of a vector at once

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<class MATRIX1 , class MATRIX2 >

void mrpt::math::CMatrixTemplateNumeric< T >::multiply	(	const MATRIX1 &	A,
		const MATRIX2 &	B
	)			`[inline]`

Parameters:

B

this = A * B

Definition at line 118 of file CMatrixTemplateNumeric.h.

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

template<class T>

template<class MAT_A >

void mrpt::math::CMatrixTemplateNumeric< T >::multiply_AAt ( const MAT_A & A ) [inline]

Parameters:

A

this = A * A^T

Definition at line 118 of file CMatrixTemplateNumeric.h.

Referenced by mrpt::math::leastSquareLinearFit().

template<class T>

template<typename OTHERVECTOR1 , typename OTHERVECTOR2 >

void mrpt::math::CMatrixTemplateNumeric< T >::multiply_Ab	(	const OTHERVECTOR1 &	vIn,
		OTHERVECTOR2 &	vOut,
		bool	accumToOutput = `false`
	)			const `[inline]`

Computes the vector vOut = this * vIn, where "vIn" is a column vector of the appropriate length.

Definition at line 118 of file CMatrixTemplateNumeric.h.

Referenced by mrpt::math::leastSquareLinearFit().

template<class T>

template<class MAT_A , class MAT_B , class MAT_C >

void mrpt::math::CMatrixTemplateNumeric< T >::multiply_ABC	(	const MAT_A &	A,
		const MAT_B &	B,
		const MAT_C &	C
	)			`[inline]`

Parameters:

C

this = A*B*C

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<class MAT_A , class MAT_B , class MAT_C >

void mrpt::math::CMatrixTemplateNumeric< T >::multiply_ABCt	(	const MAT_A &	A,
		const MAT_B &	B,
		const MAT_C &	C
	)			`[inline]`

Parameters:

C

this = A*B*(C^T)

Definition at line 118 of file CMatrixTemplateNumeric.h.

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

template<class T>

template<class MAT_A , class MAT_B >

void mrpt::math::CMatrixTemplateNumeric< T >::multiply_ABt	(	const MAT_A &	A,
		const MAT_B &	B
	)			`[inline]`

Parameters:

B

this = A * B^T

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<class MAT_A >

void mrpt::math::CMatrixTemplateNumeric< T >::multiply_AtA ( const MAT_A & A ) [inline]

Parameters:

A

this = A^T * A

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename OTHERVECTOR1 , typename OTHERVECTOR2 >

void mrpt::math::CMatrixTemplateNumeric< T >::multiply_Atb	(	const OTHERVECTOR1 &	vIn,
		OTHERVECTOR2 &	vOut,
		bool	accumToOutput = `false`
	)			const `[inline]`

Computes the vector vOut = this^T * vIn, where "vIn" is a column vector of the appropriate length.

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename MAT_C , typename MAT_R >

void mrpt::math::CMatrixTemplateNumeric< T >::multiply_HCHt	(	const MAT_C &	C,
		MAT_R &	R,
		bool	accumResultInOutput = `false`,
		bool	allow_submatrix_mult = `false`
	)			const `[inline]`

< R = this * C * this^T

See also:: detail::multiply_HCHt

Definition at line 118 of file CMatrixTemplateNumeric.h.

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

template<class T>

template<typename MAT_C >

T mrpt::math::CMatrixTemplateNumeric< T >::multiply_HCHt_scalar ( const MAT_C & C ) const [inline]

R = H * C * H^T (with a vector H and a symmetric matrix C) In fact when H is a vector, multiply_HCHt_scalar and multiply_HtCH_scalar are exactly equivalent

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename MAT_C , typename MAT_R >

void mrpt::math::CMatrixTemplateNumeric< T >::multiply_HtCH	(	const MAT_C &	C,
		MAT_R &	R,
		bool	accumResultInOutput = `false`,
		bool	allow_submatrix_mult = `false`
	)			const `[inline]`

R = H^T * C * H (with a symmetric matrix C)

< R = this^T * C * this

See also:: detail::multiply_HtCH

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename MAT_C >

T mrpt::math::CMatrixTemplateNumeric< T >::multiply_HtCH_scalar ( const MAT_C & C ) const [inline]

R = H^T * C * H (with a vector H and a symmetric matrix C) In fact when H is a vector, multiply_HCHt_scalar and multiply_HtCH_scalar are exactly equivalent

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<class MAT_A , class MAT_B >

void mrpt::math::CMatrixTemplateNumeric< T >::multiply_result_is_symmetric	(	const MAT_A &	A,
		const MAT_B &	B
	)			`[inline]`

Parameters:

B

this = A * B (result is symmetric)

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<class MAT_A , class MAT_OUT >

void mrpt::math::CMatrixTemplateNumeric< T >::multiply_subMatrix	(	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
	)			const `[inline]`

< outResult = this * A

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::multiplyByMatrixAndByTransposeNonSymmetric	(	const CMatrixTemplateNumeric< T > &	C,
		CMatrixTemplateNumeric< T > &	R,
		bool	accumOnOutput = `false`,
		bool	substractInsteadOfSum = `false`
	)			const

Computes: R = H * C * H^t , where H is this matrix.

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

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::norm ( ) const [inline]

Return the norm of the container (for matrices, as if it were a vector with all its elements).

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::norm_inf ( size_t * maxIndex = NULL ) const [inline]

Compute the norm-infinite of a vector ($f[ ||{v}||_ $f]), ie the maximum absolute value of the elements.

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::normalize	(	const T	min_val = `0`,
		const T	max_val = `1`
	)			`[inline]`

Parameters:

max_val

Normalize all the elements such as they are in the given range

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::ones	(	const size_t	row,
		const size_t	col
	)

Set all elements to one.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::ones ( )

Set all elements to one.

template<class T>

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::operator*= ( const T n ) [inline]

Parameters:

n

Multiply by scalar

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename OTHERMATRIX >

OTHERMATRIX ::template mrpt_matrix_tag_templ<void>::void_type mrpt::math::CMatrixTemplateNumeric< T >::operator*= ( const OTHERMATRIX & m ) [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt_autotype mrpt::math::CMatrixTemplateNumeric< T >::operator+ ( ) [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::operator+= ( const T n ) [inline]

Parameters:

n

Sum a scalar

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt_autotype mrpt::math::CMatrixTemplateNumeric< T >::operator- ( ) const [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::operator-= ( const T n ) [inline]

Parameters:

n

Substract a scalar

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::operator/= ( const T n ) [inline]

Parameters:

n

Divide by scalar

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

CMatrixTemplateNumeric<T>& mrpt::math::CMatrixTemplateNumeric< T >::operator= ( const CMatrixTemplateNumeric< T > & m )

Assignment operator for the same type.

Reimplemented in mrpt::math::CMatrixD.

template<class T>

template<typename V , size_t N>

CMatrixTemplateNumeric& mrpt::math::CMatrixTemplateNumeric< 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 from mrpt::math::CMatrixTemplate< T >.

Definition at line 227 of file CMatrixTemplateNumeric.h.

template<class T>

template<class R >

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

Assignment operator of other types.

Definition at line 206 of file CMatrixTemplateNumeric.h.

template<class T>

template<size_t NROWS, size_t NCOLS>

CMatrixTemplateNumeric& mrpt::math::CMatrixTemplateNumeric< T >::operator= ( const CMatrixFixedNumeric< T, NROWS, NCOLS > & M ) [inline]

Copy operator from a fixed-size matrix.

Note:: Method implemented in CMatrixFixedNumeric.h

Definition at line 198 of file CMatrixTemplateNumeric.h.

Referenced by mrpt::math::CMatrixD::operator=(), and mrpt::math::CMatrix::operator=().

template<class T>

CMatrixTemplateNumeric<T>& mrpt::math::CMatrixTemplateNumeric< T >::operator^= ( const unsigned int & pow )

combined power and assignment operator

template<class T>

int mrpt::math::CMatrixTemplateNumeric< T >::pivot ( const size_t row ) [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<class MAT_OUT >

void mrpt::math::CMatrixTemplateNumeric< T >::pseudoInverse ( MAT_OUT & out ) const [inline]

< Pseudo inverse of this matrix M: out = (M^T * M)^-1 * M^T

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<class MAT_OUT >

MAT_OUT mrpt::math::CMatrixTemplateNumeric< T >::pseudoInverse ( ) const [inline]

< Pseudo inverse of this matrix M: return (M^T * M)^-1 * M^T. Invoke with template argument for desired return matrix type: m.pseudoInverse<CMatrixDouble>()

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

size_t mrpt::math::CMatrixTemplateNumeric< T >::rank ( T eps = 1e-7 ) const [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::resize	(	size_t	row,
		size_t	col
	)

Changes the size of matrix, maintaining its previous content as possible and padding with zeros where applicable.

setSize and resize are exactly equivalent methods.

Referenced by mrpt::math::covariancesAndMean(), and mrpt::math::detail::fixedToDynMatrix().

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::resize ( const CMatrixTemplateSize & siz ) [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 248 of file CMatrixTemplateNumeric.h.

template<class T>

template<class MAT2 , class MAT3 >

void mrpt::math::CMatrixTemplateNumeric< T >::rightDivideSquare	(	const MAT2 &	B,
		MAT3 &	RES
	)			const `[inline]`

Matrix right divide: RES = this · B^-1 (B must be a square matrix).

See also:: leftDivideSquare,fastRightDivideSquare

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::saveToTextFile	(	const std::string &	file,
		mrpt::math::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.

Reimplemented from mrpt::math::CMatrixTemplate< T >.

Definition at line 118 of file CMatrixTemplateNumeric.h.

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

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::scalarPow ( T s )

Scalar power of all elements to a given power, this is diferent of ^ operator.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::setIdentity ( ) [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::setIdentity ( size_t N ) [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::setSize	(	size_t	row,
		size_t	col
	)

Changes the size of matrix, maintaining its previous content as possible and padding with zeros where applicable.

setSize and resize are exactly equivalent methods.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::math::detail::VicinityTraits< CMatrixTemplateNumeric< T > >::initialize(), mrpt::math::CVectorTemplate< KFTYPE >::likeMatrix(), and mrpt::bayes::CKalmanFilterCapable< 6, 3, 3, 6 >::runOneKalmanIteration().

template<class T>

CMatrixTemplateNumeric<T> mrpt::math::CMatrixTemplateNumeric< T >::solve ( const CMatrixTemplateNumeric< T > & v ) const

Solve the matrix as linear equations system.

template<class T>

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::Sqrt ( ) [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

Referenced by mrpt::utils::CEnhancedMetaFile::ellipseGaussian(), and mrpt::utils::CCanvas::ellipseGaussian().

template<class T>

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::Square ( ) [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::squareNorm ( ) const [inline]

Return the square norm of the container (for matrices, as if it were a vector with all its elements).

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

double mrpt::math::CMatrixTemplateNumeric< T >::std ( bool unbiased = true ) const [inline]

Return the standard deviation of all the elements in the container.

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename OTHERMATRIX >

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::substract_AAt ( const OTHERMATRIX & m ) [inline]

this -= A + A^T

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename OTHERMATRIX >

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::substract_Ac	(	const OTHERMATRIX &	m,
		const T	c
	)			`[inline]`

Substract c (scalar) times A to this matrix: this -= A * c

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename OTHERMATRIX >

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::substract_An	(	const OTHERMATRIX &	m,
		const size_t	n
	)			`[inline]`

Substract n (integer) times A to this matrix: this -= A * n

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename OTHERMATRIX >

mrpt_autotype& mrpt::math::CMatrixTemplateNumeric< T >::substract_At ( const OTHERMATRIX & m ) [inline]

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::sum	(	size_t	firstRow = `0`,
		size_t	firstCol = `0`,
		size_t	lastRow = `std::numeric_limits< size_t >::max()`,
		size_t	lastCol = `std::numeric_limits< size_t >::max()`
	)			const

Returns the sum of a given part of the matrix.

The default value (std::numeric_limits<size_t>::max()) for the last column/row means to sum up to the last column/row.

See also:: sumAll

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::sumAll ( ) const [inline]

Sum all the elements

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::svd	(	CMatrixTemplateNumeric< T > &	U,
		std::vector< T > &	W,
		CMatrixTemplateNumeric< T > &	V
	)			const

Computes the SVD (Singular Value Decomposition) of the matrix.

If "this" matrix is named A with dimensions M x N, this method computes:
A = U * W * V'

, where U is a M x N column orthogonal matrix, W is a diagonal matrix containing the singular values, and V is a NxN matrix.
This method returns the U matrix, the N elements in the diagonal of W as a vector, and the matrix V, NOT TRANSPOSED.

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::trace ( ) const [inline]

The trace of this square matrix

Definition at line 118 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::unit ( )

Build an unit matrix.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::unit ( const size_t row )

Build an unit matrix.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::zeros	(	const size_t	row,
		const size_t	col
	)

Set all elements to zero.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::zeros ( )

Set all elements to zero.

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

Classes

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

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