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CMatrixFixedNumeric.h
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8  +---------------------------------------------------------------------------+ */
9 #ifndef CMatrixFixedNumeric_H
10 #define CMatrixFixedNumeric_H
11 
12 #include <mrpt/math/math_frwds.h> // Forward declarations
13 #include <mrpt/math/eigen_frwds.h>
14 #include <mrpt/utils/types_math.h>
16 #include <mrpt/math/point_poses2vectors.h> // MRPT_MATRIX_CONSTRUCTORS_FROM_POSES()
17 
18 namespace mrpt
19 {
20  namespace math
21  {
22  /** A numeric matrix of compile-time fixed size.
23  * Basically, this class is a wrapper on Eigen::Matrix<T,NROWS,NCOLS>, but
24  * with a RowMajor element memory layout (except for column vectors).
25  *
26  * These matrices also have iterators to access all the elements in the matrix as a sequence, starting from the element (0,0), then row by row, from left to right.
27  *
28  * \note This class exists for backward compatibility of ancient times when MRPT didn't rely on Eigen, feel free to directly use Eigen::Matrix<> types instead.
29  * \sa CMatrixTemplateNumeric (for dynamic-size matrices)
30  * \note For a complete introduction to Matrices and vectors in MRPT, see: http://www.mrpt.org/Matrices_vectors_arrays_and_Linear_Algebra_MRPT_and_Eigen_classes
31  * \ingroup mrpt_base_grp
32  */
33  template <typename T,size_t NROWS,size_t NCOLS>
35  public Eigen::Matrix<
36  T,
37  NROWS,
38  NCOLS,
39  // Use row major storage for backward compatibility with MRPT matrices in all cases, except in column vectors:
40  Eigen::AutoAlign |
41  ( (NCOLS==1 && NROWS!=1) ? Eigen::ColMajor : Eigen::RowMajor )
42  >
43  {
44  public:
45  typedef Eigen::Matrix<T,NROWS,NCOLS, Eigen::AutoAlign | ( (NCOLS==1 && NROWS!=1) ? Eigen::ColMajor : Eigen::RowMajor ) > Base;
47 
48  MRPT_EIGEN_DERIVED_CLASS_CTOR_OPERATOR_EQUAL(CMatrixFixedNumeric) // Implements ctor and "operator =" for any other Eigen class
50 
51  /** Default constructor, initializes all elements to zero */
52  inline CMatrixFixedNumeric() : Base() { Base::setZero(); }
53 
54  /** Constructor from an array in row major */
55  inline CMatrixFixedNumeric(const T * vals) : Base(vals) { }
56 
57  /** Constructor which leaves the matrix uninitialized.
58  * Example of usage: CMatrixFixedNumeric<double,3,2> M(mrpt::math::UNINITIALIZED_MATRIX);
59  */
61 
62  template<size_t N,typename ReturnType> inline ReturnType getVicinity(size_t c,size_t r) const {
63  return detail::getVicinity<CMatrixFixedNumeric<T,NROWS,NCOLS>,T,ReturnType,N>::get(c,r,*this);
64  }
65 
66  inline void loadFromArray(const T* vals)
67  {
68  Base b(vals);
69  *this = b;
70  }
71 
72  /** == comparison of two matrices; it differs from default Eigen operator in that returns false if matrices are of different sizes instead of raising an assert. */
73  template <typename Derived>
74  inline bool operator ==(const Eigen::MatrixBase<Derived>& m2) const
75  {
76  return Base::cols()==m2.cols() &&
77  Base::rows()==m2.rows() &&
78  Base::cwiseEqual(m2).all();
79  }
80  /** != comparison of two matrices; it differs from default Eigen operator in that returns true if matrices are of different sizes instead of raising an assert. */
81  template <typename Derived>
82  inline bool operator !=(const Eigen::MatrixBase<Derived>& m2) const { return !((*this)==m2); }
83 
84 
85  }; // end of class definition ------------------------------
86 
87  namespace detail
88  {
89  /**
90  * Vicinity traits class specialization for fixed size matrices.
91  */
92  template<typename T,size_t D> class VicinityTraits<CMatrixFixedNumeric<T,D,D> > {
93  public:
94  inline static void initialize(CMatrixFixedNumeric<T,D,D> &mat,size_t N) {
95  UNUSED(mat);
96  ASSERT_(N==D);
97  }
98  inline static void insertInContainer(CMatrixFixedNumeric<T,D,D> &mat,size_t r,size_t c,const T &t) {
99  mat.get_unsafe(r,c)=t;
100  }
101  };
102  } //End of detail namespace.
103 
104 
105  } // End of namespace
106 
107  namespace utils
108  {
109  // Extensions to mrpt::utils::TTypeName for matrices:
110  template<typename T,size_t N,size_t M> struct TTypeName <mrpt::math::CMatrixFixedNumeric<T,N,M> > {
111  static std::string get() { return mrpt::format("CMatrixFixedNumeric<%s,%u,%u>",TTypeName<T>::get().c_str(),(unsigned int)N,(unsigned int)M); }
112  };
113  }
114 
115 } // End of namespace
116 
117 #endif
static void initialize(CMatrixFixedNumeric< T, D, D > &mat, size_t N)
TConstructorFlags_Matrices
For usage in one of the constructors of CMatrixFixedNumeric or CMatrixTemplate (and derived classes)...
Definition: math_frwds.h:72
ReturnType getVicinity(size_t c, size_t r) const
bool operator==(const Eigen::MatrixBase< Derived > &m2) const
== comparison of two matrices; it differs from default Eigen operator in that returns false if matric...
bool operator!=(const Eigen::MatrixBase< Derived > &m2) const
!= comparison of two matrices; it differs from default Eigen operator in that returns true if matrice...
A template to obtain the type of its argument as a string at compile time.
Definition: TTypeName.h:47
const GLfloat * c
Definition: glew.h:10088
GLdouble GLdouble t
Definition: glew.h:1303
CMatrixFixedNumeric< T, NROWS, NCOLS > mrpt_autotype
Eigen::Matrix< T, NROWS, NCOLS, Eigen::AutoAlign|((NCOLS==1 &&NROWS!=1)?Eigen::ColMajor:Eigen::RowMajor) > Base
MRPT_EIGEN_DERIVED_CLASS_CTOR_OPERATOR_EQUAL(CMatrixFixedNumeric) inline CMatrixFixedNumeric()
Default constructor, initializes all elements to zero.
CMatrixFixedNumeric(TConstructorFlags_Matrices)
Constructor which leaves the matrix uninitialized.
A numeric matrix of compile-time fixed size.
The purpose of this class is to model traits for containers, so that they can be used as return value...
Definition: math_frwds.h:141
static void insertInContainer(CMatrixFixedNumeric< T, D, D > &mat, size_t r, size_t c, const T &t)
#define MRPT_MATRIX_CONSTRUCTORS_FROM_POSES(_CLASS_)
Definition: math_frwds.h:88
CMatrixFixedNumeric(const T *vals)
Constructor from an array in row major.
std::string BASE_IMPEXP format(const char *fmt,...) MRPT_printf_format_check(1
A std::string version of C sprintf.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
GLsizei const GLcharARB ** string
Definition: glew.h:3293
GLdouble GLdouble GLdouble r
Definition: glew.h:1311
#define ASSERT_(f)
This huge template encapsulates a function to get the vicinity of an element, with maximum genericity...
Definition: math_frwds.h:153
GLdouble GLdouble GLdouble b
Definition: glew.h:5092



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