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ops_matrices.h File Reference

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

Detailed Description

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

Definition in file ops_matrices.h.

#include <mrpt/math/math_frwds.h>
#include <mrpt/math/eigen_frwds.h>
#include <mrpt/math/CMatrixTemplateNumeric.h>
#include <mrpt/math/CMatrixFixedNumeric.h>
#include <mrpt/math/ops_containers.h>
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Go to the source code of this file.

Namespaces

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

Macros

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

Functions

template<class Derived >
const Eigen::MatrixBase< Derived >::AdjointReturnType mrpt::math::operator~ (const Eigen::MatrixBase< Derived > &m)
 Transpose operator for matrices. More...
 
template<class Derived >
Eigen::MatrixBase< Derived >::PlainObject mrpt::math::operator! (const Eigen::MatrixBase< Derived > &m)
 Unary inversion operator. More...
 
template<typename MAT_H , typename MAT_C , typename MAT_R >
void mrpt::math::multiply_HCHt (const MAT_H &H, const MAT_C &C, MAT_R &R, bool accumResultInOutput)
 R = H * C * H^t (with C symmetric) More...
 
template<typename VECTOR_H , typename MAT_C >
MAT_C::Scalar mrpt::math::multiply_HCHt_scalar (const VECTOR_H &H, const MAT_C &C)
 r (a scalar) = H * C * H^t (with a vector H and a symmetric matrix C) More...
 
template<typename MAT_H , typename MAT_C , typename MAT_R >
void mrpt::math::multiply_HtCH (const MAT_H &H, const MAT_C &C, MAT_R &R, bool accumResultInOutput)
 R = H^t * C * H (with C symmetric) More...
 
template<class MAT_IN , class VECTOR , class MAT_OUT >
void mrpt::math::meanAndCovMat (const MAT_IN &v, VECTOR &out_mean, MAT_OUT &out_cov)
 Computes the mean vector and covariance from a list of samples in an NxM matrix, where each row is a sample, so the covariance is MxM. More...
 
template<class MATRIX >
Eigen::Matrix< typename MATRIX::Scalar, MATRIX::ColsAtCompileTime, MATRIX::ColsAtCompileTime > mrpt::math::cov (const MATRIX &v)
 Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample, so the covariance is MxM. More...
 
template<class MAT_A , class SKEW_3VECTOR , class MAT_OUT >
void mrpt::math::multiply_A_skew3 (const MAT_A &A, const SKEW_3VECTOR &v, MAT_OUT &out)
 Only for vectors/arrays "v" of length3, compute out = A * Skew(v), where Skew(v) is the skew symmetric matric generated from v (see mrpt::math::skew_symmetric3) More...
 
template<class SKEW_3VECTOR , class MAT_A , class MAT_OUT >
void mrpt::math::multiply_skew3_A (const SKEW_3VECTOR &v, const MAT_A &A, MAT_OUT &out)
 Only for vectors/arrays "v" of length3, compute out = Skew(v) * A, where Skew(v) is the skew symmetric matric generated from v (see mrpt::math::skew_symmetric3) More...
 
template<class MATORG , class MATDEST >
void mrpt::math::detail::extractMatrix (const MATORG &M, const size_t first_row, const size_t first_col, MATDEST &outMat)
 Extract a submatrix - The output matrix must be set to the required size before call. More...
 

Macro Definition Documentation

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

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

Definition at line 144 of file ops_matrices.h.




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