Detailed Description

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

A quaternion, which can represent a 3D rotation as pair $(r,\mathbf{u}) *$ , with a real part "r" and a 3D vector $\mathbf{u} = (x,y,z)$ , or alternatively, q = r + ix + jy + kz.

The elements of the quaternion can be accessed by either:

r()(equivalent to w()), x(), y(), z(), or
the operator [] with indices running from 0 (=r) to 3 (=z).

Users will usually employ the type CQuaternionDouble instead of this template.

For more information about quaternions, see:

See also: mrpt::poses::CPose3D

Definition at line 44 of file CQuaternion.h.

#include <mrpt/math/CQuaternion.h>

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

Public Member Functions
void	ensurePositiveRealPart ()
	Adhere to the convention of w>=0 to avoid ambiguity of quaternion double cover of SO(3) More...

T	r () const
	Return r (real part) coordinate of the quaternion. More...

T	w () const
	Return w (real part) coordinate of the quaternion. More...

T	x () const
	Return x coordinate of the quaternion. More...

T	y () const
	Return y coordinate of the quaternion. More...

T	z () const
	Return z coordinate of the quaternion. More...

void	r (const T r)
	Set r (real part) coordinate of the quaternion. More...

void	w (const T w)
	Set w (real part) coordinate of the quaternion. More...

void	x (const T x)
	Set x coordinate of the quaternion. More...

void	y (const T y)
	Set y coordinate of the quaternion. More...

void	z (const T z)
	Set z coordinate of the quaternion. More...

T &	r ()

T &	x ()

T &	y ()

T &	z ()

template<class ARRAYLIKE3 >
void	fromRodriguesVector (const ARRAYLIKE3 &v)
	Set this quaternion to the rotation described by a 3D (Rodrigues) rotation vector $\mathbf{v}$ : If $\mathbf{v}=0$ , then the quaternion is $\mathbf{q} = [1 ~ 0 ~ 0 ~ 0]^\top$ , otherwise: $\mathbf{q} = \left[ \begin{array}{c} \cos(\frac{\theta}{2}) \\ v_x \frac{\sin(\frac{\theta}{2})}{\theta} \\ v_y \frac{\sin(\frac{\theta}{2})}{\theta} \\ v_z \frac{\sin(\frac{\theta}{2})}{\theta} \end{array} \right]$ where $\theta = \|\mathbf{v}\| = \sqrt{v_x^2+v_y^2+v_z^2}$ . More...

void	crossProduct (const CQuaternion &q1, const CQuaternion &q2)
	Calculate the "cross" product (or "composed rotation") of two quaternion: this = q1 x q2 After the operation, "this" will represent the composed rotations of q1 and q2 (q2 applied "after" q1). More...

void	rotatePoint (const double lx, const double ly, const double lz, double &gx, double &gy, double &gz) const
	Rotate a 3D point (lx,ly,lz) -> (gx,gy,gz) as described by this quaternion. More...

void	inverseRotatePoint (const double lx, const double ly, const double lz, double &gx, double &gy, double &gz) const
	Rotate a 3D point (lx,ly,lz) -> (gx,gy,gz) as described by the inverse (conjugate) of this quaternion. More...

double	normSqr () const
	Return the squared norm of the quaternion. More...

void	normalize ()
	Normalize this quaternion, so its norm becomes the unitity. More...

template<class MATRIXLIKE >
void	normalizationJacobian (MATRIXLIKE &J) const
	Calculate the 4x4 Jacobian of the normalization operation of this quaternion. More...

template<class MATRIXLIKE >
void	rotationJacobian (MATRIXLIKE &J) const
	Compute the Jacobian of the rotation composition operation $p = f(\cdot) = q_{this} \times r$ , that is the 4x4 matrix $\frac{\partial f}{\partial q_{this} }$ . More...

template<class MATRIXLIKE >
void	rotationMatrix (MATRIXLIKE &M) const
	Calculate the 3x3 rotation matrix associated to this quaternion: $\mathbf{R} = \left( \begin{array}{ccc} q_r^2+q_x^2-q_y^2-q_z^2 & 2(q_x q_y - q_r q_z) & 2(q_z q_x+q_r q_y) \\ 2(q_x q_y+q_r q_z) & q_r^2-q_x^2+q_y^2-q_z^2 & 2(q_y q_z-q_r q_x) \\ 2(q_z q_x-q_r q_y) & 2(q_y q_z+q_r q_x) & q_r^2- q_x^2 - q_y^2 + q_z^2 \end{array} \right)$ . More...

template<class MATRIXLIKE >
MATRIXLIKE	rotationMatrix () const

template<class MATRIXLIKE >
void	rotationMatrixNoResize (MATRIXLIKE &M) const
	Fill out the top-left 3x3 block of the given matrix with the rotation matrix associated to this quaternion (does not resize the matrix, for that, see rotationMatrix). More...

void	conj (CQuaternion &q_out) const
	Return the conjugate quaternion. More...

CQuaternion	conj () const
	Return the conjugate quaternion. More...

void	rpy (T &roll, T &pitch, T &yaw) const
	Return the yaw, pitch & roll angles associated to quaternion. More...

template<class MATRIXLIKE >
void	rpy_and_jacobian (T &roll, T &pitch, T &yaw, MATRIXLIKE *out_dr_dq=nullptr, bool resize_out_dr_dq_to3x4=true) const
	Return the yaw, pitch & roll angles associated to quaternion, and (optionally) the 3x4 Jacobian of the transformation. More...

CQuaternion	operator* (const T &factor)

CMatrixFixed< T, ROWS, COLS > &	mbDerived ()

const CMatrixFixed< T, ROWS, COLS > &	mbDerived () const

void	setDiagonal (const std::size_t N, const T value)
	Resize to NxN, set all entries to zero, except the main diagonal which is set to `value` More...

void	setDiagonal (const T value)
	Set all entries to zero, except the main diagonal which is set to `value` More...

void	setDiagonal (const std::vector< T > &diags)
	Resizes to NxN, with N the length of the input vector, set all entries to zero, except the main diagonal which is set to values in the vector. More...

void	setIdentity ()

void	setIdentity (const std::size_t N)

void	matProductOf_AB (const CMatrixFixed< T, ROWS, COLS > &A, const CMatrixFixed< T, ROWS, COLS > &B)
	this = A*B, with A & B of the same type of this. More...

CMatrixFixed< T, ROWS, COLS > &	mvbDerived ()

const CMatrixFixed< T, ROWS, COLS > &	mvbDerived () const


	CQuaternion (TConstructorFlags_Quaternions)
	Can be used with UNINITIALIZED_QUATERNION as argument, does not initialize the 4 elements of the quaternion (use this constructor when speed is critical). More...

	CQuaternion ()
	Default constructor: construct a (1, (0,0,0) ) quaternion representing no rotation. More...

	CQuaternion (const T R, const T X, const T Y, const T Z)
	Construct a quaternion from its parameters 'r', 'x', 'y', 'z', with q = r + ix + jy + kz. More...

Constructors, assignment operators, initializers
template<class MAT >
void	setFromMatrixLike (const MAT &m)

template<typename VECTOR >
void	loadFromArray (const VECTOR &vals)

void	loadFromRawPointer (const T *data)
	Initializes from a plain buffer with RowMajor values. More...

void	setSize (size_t row, size_t col, [[maybe_unused]] bool zeroNewElements=false)
	Throws if size does not match with the fixed matrix size. More...

void	swap (CMatrixFixed &o)

CMatrixFixed &	derived ()

const CMatrixFixed &	derived () const

void	conservativeResize (size_t row, size_t col)

void	resize (size_t n)

void	resize (const matrix_size_t &siz, [[maybe_unused]] bool zeroNewElements=false)
	Throws if size does not match with the fixed matrix size. More...

void	resize (size_t row, size_t col)

constexpr size_type	rows () const
	Number of rows in the matrix. More...

constexpr size_type	cols () const
	Number of columns in the matrix. More...

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

Matrix element access & modifiers
template<typename EIGEN_MATRIX = eigen_t, typename EIGEN_MAP = Eigen::Map< EIGEN_MATRIX, MRPT_MAX_STATIC_ALIGN_BYTES, Eigen::InnerStride<1>>>
EIGEN_MAP	asEigen ()
	Get as an Eigen-compatible Eigen::Map object. More...

template<typename EIGEN_MATRIX = eigen_t, typename EIGEN_MAP = Eigen::Map< const EIGEN_MATRIX, MRPT_MAX_STATIC_ALIGN_BYTES, Eigen::InnerStride<1>>>
EIGEN_MAP	asEigen () const

const T *	data () const
	Return raw pointer to row-major data buffer. More...

T *	data ()

T &	operator() (int row, int col)
	Access (row,col), without out-of-bounds check (except in Debug builds) More...

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

T &	operator() (int i)
	Access the i-th element, Row-Major order, without out-of-bounds check (except in Debug builds) More...

const T &	operator() (int i) const

T &	operator[] (int i)
	Access the [i-th] element (for 1xN or Nx1 matrices) More...

const T &	operator[] (int i) const

CMatrixFixed< float, ROWS, COLS >	cast_float () const

CMatrixFixed< double, ROWS, COLS >	cast_double () const

CMatrixFixed< T, ROWS, 1 >	llt_solve (const CMatrixFixed< T, ROWS, 1 > &b) const
	Solves the linear system Ax=b, returns x, with A this symmetric matrix. More...

CMatrixFixed< T, ROWS, 1 >	lu_solve (const CMatrixFixed< T, ROWS, 1 > &b) const
	Solves the linear system Ax=b, returns x, with A this asymmetric matrix. More...

void	sum_At (const CMatrixFixed< Scalar, ROWS, COLS > &A)
	this += A^T More...

Operations that DO require `#include <Eigen/Dense>` in user code
auto	col (int colIdx)

auto	col (int colIdx) const

auto	row (int rowIdx)

auto	row (int rowIdx) const

void	extractRow (int rowIdx, VECTOR_LIKE &v) const

VECTOR_LIKE	extractRow (int rowIdx) const

void	extractColumn (int colIdx, VECTOR_LIKE &v) const

VECTOR_LIKE	extractColumn (int colIdx) const

Standalone operations (do NOT require `#include <Eigen/Dense>`)
T	det () const
	Determinant of matrix. More...

CMatrixFixed< T, ROWS, COLS >	inverse () const
	Returns the inverse of a general matrix using LU. More...

CMatrixFixed< T, ROWS, COLS >	inverse_LLt () const
	Returns the inverse of a symmetric matrix using LLt. More...

int	rank (T threshold=0) const
	Finds the rank of the matrix via LU decomposition. More...

bool	chol (CMatrixFixed< T, ROWS, COLS > &U) const
	Cholesky M=U^T * U decomposition for symmetric matrix (upper-half of the matrix is actually ignored. More...

bool	eig (CMatrixFixed< T, ROWS, COLS > &eVecs, std::vector< T > &eVals, bool sorted=true) const
	Computes the eigenvectors and eigenvalues for a square, general matrix. More...

bool	eig_symmetric (CMatrixFixed< T, ROWS, COLS > &eVecs, std::vector< T > &eVals, bool sorted=true) const
	Read: eig() More...

T	maximumDiagonal () const
	Returns the maximum value in the diagonal. More...

T	minimumDiagonal () const
	Returns the minimum value in the diagonal. More...

T	trace () const
	Returns the trace of the matrix (not necessarily square). More...

void	unsafeRemoveColumns (const std::vector< std::size_t > &idxs)
	Removes columns of the matrix. More...

void	removeColumns (const std::vector< std::size_t > &idxsToRemove)
	Removes columns of the matrix. More...

void	unsafeRemoveRows (const std::vector< std::size_t > &idxs)
	Removes rows of the matrix. More...

void	removeRows (const std::vector< std::size_t > &idxsToRemove)
	Removes rows of the matrix. More...

void	insertMatrix (const int row_start, const int col_start, const OTHERMATVEC &submat)
	Copies the given input submatrix/vector into this matrix/vector, starting at the given top-left coordinates. More...

void	insertMatrixTransposed (const int row_start, const int col_start, const OTHERMATVEC &submat)
	Like insertMatrix(), but inserts ‘submat’` (transposed) More...

CMatrixFixed< T, BLOCK_ROWS, BLOCK_COLS >	blockCopy (int start_row=0, int start_col=0) const
	const blockCopy(): Returns a copy of the given block More...

CMatrixDynamic< T >	blockCopy (int start_row, int start_col, int BLOCK_ROWS, int BLOCK_COLS) const
	const blockCopy(): Returns a copy of the given block (non templated version, dynamic sizes) More...

CMatrixFixed< T, BLOCK_ROWS, BLOCK_COLS >	extractMatrix (const int start_row=0, const int start_col=0) const

CMatrixDynamic< T >	extractMatrix (const int BLOCK_ROWS, const int BLOCK_COLS, const int start_row, const int start_col) const

void	matProductOf_AAt (const MAT_A &A)
	this = A * A^T More...

void	matProductOf_AtA (const MAT_A &A)
	this = A^T * A More...

Operations that DO require `#include <Eigen/Dense>` in user code
auto	block (int start_row, int start_col)
	non-const block(): Returns an Eigen::Block reference to the block More...

auto	block (int start_row, int start_col, int BLOCK_ROWS, int BLOCK_COLS)

auto	block (int start_row, int start_col, int BLOCK_ROWS, int BLOCK_COLS) const

auto	transpose ()

auto	transpose () const

auto	array ()

auto	array () const

auto	operator- () const

auto	operator- (const MatrixVectorBase< S2, D2 > &m2) const

auto	operator+ (const MatrixVectorBase< S2, D2 > &m2) const

void	operator+= (const MatrixVectorBase< S2, D2 > &m2)

void	operator-= (const MatrixVectorBase< S2, D2 > &m2)

auto	operator* (const MatrixVectorBase< S2, D2 > &m2) const

auto	operator* (const T s) const

CMatrixFixed< T, N, 1 >	tail () const

CMatrixFixed< T, N, 1 >	head () const

Standalone operations (do NOT require `#include <Eigen/Dense>`)
CMatrixFixed< T, ROWS, COLS >	operator- (const CMatrixFixed< T, ROWS, COLS > &m2) const

CMatrixFixed< T, ROWS, COLS >	operator+ (const CMatrixFixed< T, ROWS, COLS > &m2) const

void	operator+= (T s)

void	operator+= (const CMatrixFixed< T, ROWS, COLS > &m2)

void	operator-= (T s)

void	operator-= (const CMatrixFixed< T, ROWS, COLS > &m2)

CMatrixDynamic< T >	operator* (const CMatrixDynamic< T > &v)

CMatrixFixed< T, ROWS, COLS >	operator* (const CMatrixFixed< T, ROWS, COLS > &m2) const

T &	coeffRef (int r, int c)

const T &	coeff (int r, int c) const

T	minCoeff () const
	Minimum value in the matrix/vector. More...

T	minCoeff (std::size_t &outIndexOfMin) const

T	minCoeff (std::size_t &rowIdx, std::size_t &colIdx) const

T	maxCoeff () const
	Maximum value in the matrix/vector. More...

T	maxCoeff (std::size_t &outIndexOfMax) const

T	maxCoeff (std::size_t &rowIdx, std::size_t &colIdx) const

bool	isSquare () const
	returns true if matrix is NxN More...

bool	empty () const
	returns true if matrix/vector has size=0 More...

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

T	norm () const
	Compute the L2 norm of a vector/array/matrix (the Euclidean distance to the origin, taking all the elements as a single vector). More...

void	operator*= (T s)

T	dot (const CVectorDynamic< T > &v) const
	dot product of `this \cdot v` More...

T	dot (const MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > > &v) const

void	matProductOf_Ab (const CMatrixDynamic< T > &A, const CVectorDynamic< T > &b)
	this = A * b , with `A` and `b` a dynamic matrix & vector More...

void	matProductOf_Atb (const CMatrixDynamic< T > &A, const CVectorDynamic< T > &b)
	this = A^T * b , with `A` and `b` a dynamic matrix & vector More...

T	sum () const
	Sum of all elements in matrix/vector. More...

T	sum_abs () const
	Sum of the absolute value of all elements in matrix/vector. More...

std::string	asString () const
	Returns a string representation of the vector/matrix, using Eigen's default settings. More...

bool	fromMatlabStringFormat (const std::string &s, mrpt::optional_ref< std::ostream > dump_errors_here=std::nullopt)
	Reads 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 ']'. More...

std::string	inMatlabFormat (const std::size_t decimal_digits=6) const
	Exports the matrix as a string compatible with Matlab/Octave. More...

void	saveToTextFile (const std::string &file, mrpt::math::TMatrixTextFileFormat fileFormat=mrpt::math::MATRIX_FORMAT_ENG, bool appendMRPTHeader=false, const std::string &userHeader=std::string()) const
	Saves the vector/matrix to a file compatible with MATLAB/Octave text format. More...

void	loadFromTextFile (std::istream &f)
	Loads a vector/matrix from a text file, compatible with MATLAB text format. More...

void	loadFromTextFile (const std::string &file)

bool	operator== (const OTHERMATVEC &o) const

bool	operator!= (const OTHERMATVEC &o) const

Static Public Member Functions
static CMatrixFixed< T, ROWS, COLS >	Identity ()

static CMatrixFixed< T, ROWS, COLS >	Identity (const std::size_t N)

Private Types
using	Base = CVectorFixed< T, 4 >

Matrix type definitions
using	value_type = T
	The type of the matrix elements. More...

using	Scalar = T

using	Index = int

using	reference = T &

using	const_reference = const T &

using	size_type = int

using	difference_type = std::ptrdiff_t

using	eigen_t = Eigen::Matrix< T, ROWS, COLS, StorageOrder, ROWS, COLS >

static constexpr int	RowsAtCompileTime = ROWS

static constexpr int	ColsAtCompileTime = COLS

static constexpr int	SizeAtCompileTime = ROWS * COLS

static constexpr int	is_mrpt_type = 1

static constexpr int	StorageOrder

Iterators interface
iterator	begin ()

const_iterator	begin () const

iterator	end ()

const_iterator	end () const

const_iterator	cbegin () const

const_iterator	cend () const

using	iterator = typename vec_t::iterator

using	const_iterator = typename vec_t::const_iterator

Lie Algebra methods
template<class ARRAYLIKE3 >
void	ln (ARRAYLIKE3 &out_ln) const
	Logarithm of the 3x3 matrix defined by this pose, generating the corresponding vector in the SO(3) Lie Algebra, which coincides with the so-called "rotation vector" (I don't have space here for the proof ;-). More...

template<class ARRAYLIKE3 >
ARRAYLIKE3	ln () const
	overload that returns by value More...

template<class ARRAYLIKE3 >
void	ln_noresize (ARRAYLIKE3 &out_ln) const
	Like ln() but does not try to resize the output vector. More...

template<class ARRAYLIKE3 >
static CQuaternion< T >	exp (const ARRAYLIKE3 &v)
	Exponential map from the SO(3) Lie Algebra to unit quaternions. More...

template<class ARRAYLIKE3 >
static void	exp (const ARRAYLIKE3 &v, CQuaternion< T > &out_quat)

Initialization methods
void	fill (const T &val)

void	setConstant (const T value)

void	setConstant (size_t nrows, size_t ncols, const T value)

void	setConstant (size_t nrows, const T value)

void	assign (const std::size_t N, const T value)

void	setZero ()

void	setZero (size_t nrows, size_t ncols)

void	setZero (size_t nrows)

static CMatrixFixed< T, ROWS, COLS >	Constant (const T value)

static CMatrixFixed< T, ROWS, COLS >	Constant (size_t nrows, size_t ncols, const T value)

static CMatrixFixed< T, ROWS, COLS >	Zero ()

static CMatrixFixed< T, ROWS, COLS >	Zero (size_t nrows, size_t ncols)

Member Typedef Documentation

◆ Base

template<class T>

using mrpt::math::CQuaternion< T >::Base = CVectorFixed<T, 4>

private

Definition at line 46 of file CQuaternion.h.

◆ const_iterator

template<typename T, std::size_t ROWS, std::size_t COLS>

using mrpt::math::CMatrixFixed< T, ROWS, COLS >::const_iterator = typename vec_t::const_iterator

inherited

Definition at line 63 of file CMatrixFixed.h.

◆ const_reference

template<typename T, std::size_t ROWS, std::size_t COLS>

using mrpt::math::CMatrixFixed< T, ROWS, COLS >::const_reference = const T&

inherited

Definition at line 48 of file CMatrixFixed.h.

◆ difference_type

template<typename T, std::size_t ROWS, std::size_t COLS>

using mrpt::math::CMatrixFixed< T, ROWS, COLS >::difference_type = std::ptrdiff_t

inherited

Definition at line 50 of file CMatrixFixed.h.

◆ eigen_t

template<typename T, std::size_t ROWS, std::size_t COLS>

using mrpt::math::CMatrixFixed< T, ROWS, COLS >::eigen_t = Eigen::Matrix<T, ROWS, COLS, StorageOrder, ROWS, COLS>

inherited

Definition at line 57 of file CMatrixFixed.h.

◆ Index

template<typename T, std::size_t ROWS, std::size_t COLS>

using mrpt::math::CMatrixFixed< T, ROWS, COLS >::Index = int

inherited

Definition at line 46 of file CMatrixFixed.h.

◆ iterator

template<typename T, std::size_t ROWS, std::size_t COLS>

using mrpt::math::CMatrixFixed< T, ROWS, COLS >::iterator = typename vec_t::iterator

inherited

Definition at line 62 of file CMatrixFixed.h.

◆ reference

template<typename T, std::size_t ROWS, std::size_t COLS>

using mrpt::math::CMatrixFixed< T, ROWS, COLS >::reference = T&

inherited

Definition at line 47 of file CMatrixFixed.h.

◆ Scalar

template<typename T, std::size_t ROWS, std::size_t COLS>

using mrpt::math::CMatrixFixed< T, ROWS, COLS >::Scalar = T

inherited

Definition at line 45 of file CMatrixFixed.h.

◆ size_type

template<typename T, std::size_t ROWS, std::size_t COLS>

using mrpt::math::CMatrixFixed< T, ROWS, COLS >::size_type = int

inherited

Definition at line 49 of file CMatrixFixed.h.

◆ value_type

template<typename T, std::size_t ROWS, std::size_t COLS>

using mrpt::math::CMatrixFixed< T, ROWS, COLS >::value_type = T

inherited

The type of the matrix elements.

Definition at line 44 of file CMatrixFixed.h.

Constructor & Destructor Documentation

◆ CQuaternion() [1/3]

template<class T>

mrpt::math::CQuaternion< T >::CQuaternion ( TConstructorFlags_Quaternions )

inline

Can be used with UNINITIALIZED_QUATERNION as argument, does not initialize the 4 elements of the quaternion (use this constructor when speed is critical).

Definition at line 55 of file CQuaternion.h.

◆ CQuaternion() [2/3]

template<class T>

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

inline

Default constructor: construct a (1, (0,0,0) ) quaternion representing no rotation.

Definition at line 58 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

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◆ CQuaternion() [3/3]

template<class T>

mrpt::math::CQuaternion< T >::CQuaternion	(	const T	R,
		const T	X,
		const T	Y,
		const T	Z
	)

inline

Construct a quaternion from its parameters 'r', 'x', 'y', 'z', with q = r + ix + jy + kz.

Definition at line 68 of file CQuaternion.h.

References ASSERTMSG_, mrpt::math::CQuaternion< T >::ensurePositiveRealPart(), mrpt::format(), mrpt::math::CQuaternion< T >::normSqr(), mrpt::math::CQuaternion< T >::r(), R, mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

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Member Function Documentation

◆ array() [1/2]

auto mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::array ( )

inlineinherited

Definition at line 170 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

Referenced by mrpt::img::CCanvas::ellipseGaussian(), mrpt::math::MATLAB_plotCovariance2D(), and TEST().

◆ array() [2/2]

auto mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::array ( ) const

inlineinherited

Definition at line 175 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ asEigen() [1/2]

template<typename T, std::size_t ROWS, std::size_t COLS>

template<typename EIGEN_MATRIX = eigen_t, typename EIGEN_MAP = Eigen::Map< EIGEN_MATRIX, MRPT_MAX_STATIC_ALIGN_BYTES, Eigen::InnerStride<1>>>

EIGEN_MAP mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen ( )

inlineinherited

Get as an Eigen-compatible Eigen::Map object.

Definition at line 251 of file CMatrixFixed.h.

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◆ asEigen() [2/2]

template<typename T, std::size_t ROWS, std::size_t COLS>

template<typename EIGEN_MATRIX = eigen_t, typename EIGEN_MAP = Eigen::Map< const EIGEN_MATRIX, MRPT_MAX_STATIC_ALIGN_BYTES, Eigen::InnerStride<1>>>

EIGEN_MAP mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen ( ) const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 266 of file CMatrixFixed.h.

◆ assign()

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::assign	(	const std::size_t	N,
		const T	value
	)

inlineinherited

Definition at line 106 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::fill(), and mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ asString()

std::string mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::asString ( ) const

inherited

Returns a string representation of the vector/matrix, using Eigen's default settings.

Definition at line 337 of file MatrixVectorBase_impl.h.

Referenced by TEST().

◆ begin() [1/2]

template<typename T, std::size_t ROWS, std::size_t COLS>

iterator mrpt::math::CMatrixFixed< T, ROWS, COLS >::begin ( )

inlineinherited

Definition at line 64 of file CMatrixFixed.h.

◆ begin() [2/2]

template<typename T, std::size_t ROWS, std::size_t COLS>

const_iterator mrpt::math::CMatrixFixed< T, ROWS, COLS >::begin ( ) const

inlineinherited

Definition at line 66 of file CMatrixFixed.h.

◆ block() [1/3]

auto mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::block	(	int	start_row,
		int	start_col
	)

inlineinherited

non-const block(): Returns an Eigen::Block reference to the block

Definition at line 138 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

Referenced by jacob_deps_D_p_deps().

◆ block() [2/3]

auto mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::block	(	int	start_row,
		int	start_col,
		int	BLOCK_ROWS,
		int	BLOCK_COLS
	)

inlineinherited

Definition at line 145 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ block() [3/3]

auto mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::block	(	int	start_row,
		int	start_col,
		int	BLOCK_ROWS,
		int	BLOCK_COLS
	)		const

inlineinherited

Definition at line 151 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ blockCopy() [1/2]

CMatrixFixed<T , BLOCK_ROWS, BLOCK_COLS> mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::blockCopy	(	int	start_row = `0`,
		int	start_col = `0`
	)		const

inlineinherited

const blockCopy(): Returns a copy of the given block

Definition at line 233 of file MatrixBase.h.

◆ blockCopy() [2/2]

CMatrixDynamic<T > mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::blockCopy	(	int	start_row,
		int	start_col,
		int	BLOCK_ROWS,
		int	BLOCK_COLS
	)		const

inlineinherited

const blockCopy(): Returns a copy of the given block (non templated version, dynamic sizes)

Definition at line 240 of file MatrixBase.h.

References mrpt::math::MatrixBase< Scalar, Derived >::extractMatrix().

◆ cast_double()

template<typename T , std::size_t ROWS, std::size_t COLS>

CMatrixFixed< double, ROWS, COLS > mrpt::math::CMatrixFixed< T, ROWS, COLS >::cast_double ( ) const

inherited

Definition at line 25 of file CMatrixFixed_impl.h.

Referenced by mrpt::slam::CICP::ICP_Method_LM(), mrpt::poses::CPointPDFGaussian::serializeFrom(), mrpt::poses::CPosePDFGaussian::serializeFrom(), and mrpt::poses::CPosePDFSOG::serializeFrom().

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◆ cast_float()

template<typename T , std::size_t ROWS, std::size_t COLS>

CMatrixFixed< float, ROWS, COLS > mrpt::math::CMatrixFixed< T, ROWS, COLS >::cast_float ( ) const

inherited

Definition at line 17 of file CMatrixFixed_impl.h.

Referenced by mrpt::vision::CDifodo::computeWeights(), mrpt::vision::CDifodo::filterLevelSolution(), mrpt::vision::CDifodo::poseUpdate(), and mrpt::obs::detail::unprojectInto().

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◆ cbegin()

template<typename T, std::size_t ROWS, std::size_t COLS>

const_iterator mrpt::math::CMatrixFixed< T, ROWS, COLS >::cbegin ( ) const

inlineinherited

Definition at line 68 of file CMatrixFixed.h.

◆ cend()

template<typename T, std::size_t ROWS, std::size_t COLS>

const_iterator mrpt::math::CMatrixFixed< T, ROWS, COLS >::cend ( ) const

inlineinherited

Definition at line 69 of file CMatrixFixed.h.

◆ chol()

bool mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::chol ( CMatrixFixed< T, ROWS, COLS > & U ) const

inherited

Cholesky M=U^T * U decomposition for symmetric matrix (upper-half of the matrix is actually ignored.

Returns: false if Cholesky fails

Definition at line 165 of file MatrixBase_impl.h.

◆ coeff()

const T & mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::coeff	(	int	r,
		int	c
	)		const

inlineinherited

Definition at line 244 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ coeffRef()

T & mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::coeffRef	(	int	r,
		int	c
	)

inlineinherited

Definition at line 243 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ col() [1/2]

auto mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::col ( int colIdx )

inlineinherited

Definition at line 89 of file MatrixBase.h.

References mrpt::math::MatrixBase< Scalar, Derived >::mbDerived().

Referenced by mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::conservativeResize(), mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::operator()(), mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::resize(), and mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::setSize().

◆ col() [2/2]

auto mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::col ( int colIdx ) const

inlineinherited

Definition at line 94 of file MatrixBase.h.

References mrpt::math::MatrixBase< Scalar, Derived >::mbDerived().

◆ cols()

template<typename T, std::size_t ROWS, std::size_t COLS>

constexpr size_type mrpt::math::CMatrixFixed< T, ROWS, COLS >::cols ( ) const

inlineinherited

Number of columns in the matrix.

See also: rows()

Definition at line 230 of file CMatrixFixed.h.

Referenced by mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::CMatrixFixed(), mrpt::math::operator>>(), mrpt::vision::pinhole::projectPoints_with_distortion(), quat_vs_YPR(), mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration(), mrpt::poses::CPose3DQuatPDFGaussianInf::serializeFrom(), mrpt::poses::CPose3DQuatPDFGaussianInf::serializeTo(), mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::setFromMatrixLike(), and TEST().

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◆ conj() [1/2]

template<class T>

void mrpt::math::CQuaternion< T >::conj ( CQuaternion< T > & q_out ) const

inline

Return the conjugate quaternion.

Definition at line 412 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::poses::CPose3DQuatPDFGaussianInf::inverse(), and mrpt::poses::CPose3DQuatPDFGaussian::inverse().

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◆ conj() [2/2]

template<class T>

CQuaternion mrpt::math::CQuaternion< T >::conj ( ) const

inline

Return the conjugate quaternion.

Definition at line 421 of file CQuaternion.h.

◆ conservativeResize()

template<typename T, std::size_t ROWS, std::size_t COLS>

void mrpt::math::CMatrixFixed< T, ROWS, COLS >::conservativeResize	(	size_t	row,
		size_t	col
	)

inlineinherited

Definition at line 202 of file CMatrixFixed.h.

◆ Constant() [1/2]

static CMatrixFixed< T, ROWS, COLS > mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::Constant ( const T value )

inlinestaticinherited

Definition at line 89 of file MatrixVectorBase.h.

References ASSERTMSG_.

◆ Constant() [2/2]

static CMatrixFixed< T, ROWS, COLS > mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::Constant	(	size_t	nrows,
		size_t	ncols,
		const T	value
	)

inlinestaticinherited

Definition at line 99 of file MatrixVectorBase.h.

◆ crossProduct()

template<class T>

void mrpt::math::CQuaternion< T >::crossProduct	(	const CQuaternion< T > &	q1,
		const CQuaternion< T > &	q2
	)

inline

Calculate the "cross" product (or "composed rotation") of two quaternion: this = q1 x q2 After the operation, "this" will represent the composed rotations of q1 and q2 (q2 applied "after" q1).

Definition at line 231 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::normalize(), mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::poses::CPose3DQuat::composeFrom(), mrpt::poses::CPose3DQuat::inverseComposeFrom(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), and TEST_F().

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◆ data() [1/2]

template<typename T, std::size_t ROWS, std::size_t COLS>

const T* mrpt::math::CMatrixFixed< T, ROWS, COLS >::data ( ) const

inlineinherited

Return raw pointer to row-major data buffer.

All matrix cells can be assumed to be stored contiguously in memory, i.e. row stride = column count.

Definition at line 278 of file CMatrixFixed.h.

Referenced by mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::loadFromRawPointer(), mrpt::opengl::processRenderQueue(), and TEST().

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◆ data() [2/2]

template<typename T, std::size_t ROWS, std::size_t COLS>

T* mrpt::math::CMatrixFixed< T, ROWS, COLS >::data ( )

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 284 of file CMatrixFixed.h.

◆ derived() [1/2]

template<typename T, std::size_t ROWS, std::size_t COLS>

CMatrixFixed& mrpt::math::CMatrixFixed< T, ROWS, COLS >::derived ( )

inlineinherited

Definition at line 200 of file CMatrixFixed.h.

◆ derived() [2/2]

template<typename T, std::size_t ROWS, std::size_t COLS>

const CMatrixFixed& mrpt::math::CMatrixFixed< T, ROWS, COLS >::derived ( ) const

inlineinherited

Definition at line 201 of file CMatrixFixed.h.

◆ det()

T mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::det ( ) const

inherited

Determinant of matrix.

Definition at line 76 of file MatrixBase_impl.h.

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

◆ dot() [1/2]

T mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::dot ( const CVectorDynamic< T > & v ) const

inherited

dot product of this \cdot v

Definition at line 511 of file MatrixVectorBase_impl.h.

References ASSERTMSG_, and mrpt::math::MatrixVectorBase< T, CVectorDynamic< T > >::mvbDerived().

◆ dot() [2/2]

T mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::dot ( const MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > > & v ) const

inherited

Definition at line 524 of file MatrixVectorBase_impl.h.

References ASSERTMSG_, and mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ eig()

bool mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::eig	(	CMatrixFixed< T, ROWS, COLS > &	eVecs,
		std::vector< T > &	eVals,
		bool	sorted = `true`
	)		const

inherited

Computes the eigenvectors and eigenvalues for a square, general matrix.

Use eig_symmetric() for symmetric matrices for better accuracy and performance. Eigenvectors are the columns of the returned matrix, and their order matches that of returned eigenvalues.

Parameters

[in]	sorted	If true, eigenvalues (and eigenvectors) will be sorted in ascending order.
[out]	eVecs	The container where eigenvectors will be stored.
[out]	eVals	The container where eigenvalues will be stored.

Returns: false if eigenvalues could not be determined.

Definition at line 107 of file MatrixBase_impl.h.

References ASSERT_EQUAL_, and mrpt::math::detail::sortEigResults().

Referenced by mrpt::img::CCanvas::ellipseGaussian().

◆ eig_symmetric()

bool mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::eig_symmetric	(	CMatrixFixed< T, ROWS, COLS > &	eVecs,
		std::vector< T > &	eVals,
		bool	sorted = `true`
	)		const

inherited

Read: eig()

Note: This only uses the lower-triangular part of the matrix

Definition at line 131 of file MatrixBase_impl.h.

References ASSERT_EQUAL_, and mrpt::math::detail::sortEigResults().

◆ empty()

bool mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::empty ( ) const

inlineinherited

returns true if matrix/vector has size=0

Definition at line 260 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ end() [1/2]

template<typename T, std::size_t ROWS, std::size_t COLS>

iterator mrpt::math::CMatrixFixed< T, ROWS, COLS >::end ( )

inlineinherited

Definition at line 65 of file CMatrixFixed.h.

◆ end() [2/2]

template<typename T, std::size_t ROWS, std::size_t COLS>

const_iterator mrpt::math::CMatrixFixed< T, ROWS, COLS >::end ( ) const

inlineinherited

Definition at line 67 of file CMatrixFixed.h.

◆ ensurePositiveRealPart()

template<class T>

void mrpt::math::CQuaternion< T >::ensurePositiveRealPart ( )

inline

Adhere to the convention of w>=0 to avoid ambiguity of quaternion double cover of SO(3)

Definition at line 88 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::math::CQuaternion< T >::CQuaternion(), and mrpt::math::CQuaternion< T >::normalize().

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◆ exp() [1/2]

template<class T>

template<class ARRAYLIKE3 >

static CQuaternion<T> mrpt::math::CQuaternion< T >::exp ( const ARRAYLIKE3 & v )

inlinestatic

Exponential map from the SO(3) Lie Algebra to unit quaternions.

See also: ln, mrpt::poses::SE_traits

Definition at line 211 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::fromRodriguesVector(), and mrpt::math::UNINITIALIZED_QUATERNION.

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◆ exp() [2/2]

template<class T>

template<class ARRAYLIKE3 >

static void mrpt::math::CQuaternion< T >::exp	(	const ARRAYLIKE3 &	v,
		CQuaternion< T > &	out_quat
	)

inlinestatic

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 219 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::fromRodriguesVector().

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◆ extractColumn() [1/2]

void mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::extractColumn	(	int	colIdx,
		VECTOR_LIKE &	v
	)		const

inlineinherited

Definition at line 128 of file MatrixBase.h.

References ASSERT_BELOW_, and mrpt::math::MatrixBase< Scalar, Derived >::mbDerived().

◆ extractColumn() [2/2]

VECTOR_LIKE mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::extractColumn ( int colIdx ) const

inlineinherited

Definition at line 136 of file MatrixBase.h.

References mrpt::math::MatrixBase< Scalar, Derived >::extractColumn().

◆ extractMatrix() [1/2]

CMatrixFixed<T , BLOCK_ROWS, BLOCK_COLS> mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::extractMatrix	(	const int	start_row = `0`,
		const int	start_col = `0`
	)		const

inlineinherited

Definition at line 247 of file MatrixBase.h.

References ASSERT_BELOWEQ_, and mrpt::math::MatrixBase< Scalar, Derived >::mbDerived().

◆ extractMatrix() [2/2]

CMatrixDynamic<T > mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::extractMatrix	(	const int	BLOCK_ROWS,
		const int	BLOCK_COLS,
		const int	start_row,
		const int	start_col
	)		const

inlineinherited

Definition at line 260 of file MatrixBase.h.

References ASSERT_BELOWEQ_, and mrpt::math::MatrixBase< Scalar, Derived >::mbDerived().

◆ extractRow() [1/2]

void mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::extractRow	(	int	rowIdx,
		VECTOR_LIKE &	v
	)		const

inlineinherited

Definition at line 112 of file MatrixBase.h.

References ASSERT_BELOW_, and mrpt::math::MatrixBase< Scalar, Derived >::mbDerived().

◆ extractRow() [2/2]

VECTOR_LIKE mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::extractRow ( int rowIdx ) const

inlineinherited

Definition at line 120 of file MatrixBase.h.

References mrpt::math::MatrixBase< Scalar, Derived >::extractRow().

◆ fill()

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::fill ( const T & val )

inlineinherited

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

Definition at line 70 of file MatrixVectorBase.h.

References mrpt::containers::begin(), mrpt::containers::end(), mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived(), and val.

Referenced by Pose3DTests::check_jacob_expe_e_at_0(), Pose3DTests::check_jacob_LnT_T(), Pose3DQuatTests::test_composePointJacob(), Pose3DTests::test_composePointJacob(), Pose3DTests::test_composePointJacob_se3(), Pose3DQuatTests::test_invComposePointJacob(), Pose3DTests::test_invComposePointJacob(), Pose3DTests::test_invComposePointJacob_se3(), Pose3DTests::test_Jacob_dAexpeD_de(), Pose3DTests::test_Jacob_dDexpe_de(), Pose3DTests::test_Jacob_dexpeD_de(), SE_traits_tests< POSE_TYPE >::test_jacobs_AB(), SE_traits_tests< POSE_TYPE >::test_jacobs_DinvP1InvP2(), Pose3DQuatTests::test_normalizeJacob(), Pose3DQuatTests::test_sphericalCoords(), Pose3DPDFGaussTests::testCompositionJacobian(), Pose3DQuatPDFGaussTests::testCompositionJacobian(), Pose3DQuatPDFGaussTests::testInverse(), Pose3DPDFGaussTests::testPoseComposition(), Pose3DQuatPDFGaussTests::testPoseComposition(), Pose3DPDFGaussTests::testPoseInverseComposition(), and Pose3DQuatPDFGaussTests::testPoseInverseComposition().

◆ fromMatlabStringFormat()

bool mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::fromMatlabStringFormat	(	const std::string &	s,
		mrpt::optional_ref< std::ostream >	dump_errors_here = `std::nullopt`
	)

inherited

Reads 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 ''. Commas ',' between elements are NOT allowed.

This format is also used for CConfigFile::read_matrix.

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 24 of file MatrixVectorBase_impl.h.

References mrpt::containers::end(), and val.

Referenced by TEST().

◆ fromRodriguesVector()

template<class T>

template<class ARRAYLIKE3 >

void mrpt::math::CQuaternion< T >::fromRodriguesVector ( const ARRAYLIKE3 & v )

inline

Set this quaternion to the rotation described by a 3D (Rodrigues) rotation vector $\mathbf{v}$ : If $\mathbf{v}=0$ , then the quaternion is $\mathbf{q} = [1 ~ 0 ~ 0 ~ 0]^\top$ , otherwise:

$\mathbf{q} = \left[ \begin{array}{c} \cos(\frac{\theta}{2}) \\ v_x \frac{\sin(\frac{\theta}{2})}{\theta} \\ v_y \frac{\sin(\frac{\theta}{2})}{\theta} \\ v_z \frac{\sin(\frac{\theta}{2})}{\theta} \end{array} \right]$

where $\theta = |\mathbf{v}| = \sqrt{v_x^2+v_y^2+v_z^2}$ .

See also: "Representing Attitude: Euler Angles, Unit Quaternions, and Rotation Vectors (2006)", James Diebel.

Definition at line 141 of file CQuaternion.h.

References ASSERT_, ASSERTMSG_, mrpt::format(), MRPT_END, MRPT_START, mrpt::math::CQuaternion< T >::normSqr(), mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::math::CQuaternion< T >::exp().

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◆ head()

CMatrixFixed<T , N, 1> mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::head ( ) const

inlineinherited

Definition at line 232 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ Identity() [1/2]

static CMatrixFixed< T, ROWS, COLS > mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::Identity ( )

inlinestaticinherited

Definition at line 64 of file MatrixBase.h.

References ASSERTMSG_.

◆ Identity() [2/2]

static CMatrixFixed< T, ROWS, COLS > mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::Identity ( const std::size_t N )

inlinestaticinherited

Definition at line 74 of file MatrixBase.h.

◆ inMatlabFormat()

std::string mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::inMatlabFormat ( const std::size_t decimal_digits = 6 ) const

inherited

Exports the matrix as a string compatible with Matlab/Octave.

See also: fromMatlabStringFormat()

Definition at line 141 of file MatrixVectorBase_impl.h.

◆ insertMatrix()

void mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::insertMatrix	(	const int	row_start,
		const int	col_start,
		const OTHERMATVEC &	submat
	)

inlineinherited

Copies the given input submatrix/vector into this matrix/vector, starting at the given top-left coordinates.

Definition at line 210 of file MatrixBase.h.

References ASSERT_BELOWEQ_, and mrpt::math::MatrixBase< Scalar, Derived >::mbDerived().

Referenced by mrpt::poses::CPose3DQuatPDFGaussian::copyFrom(), mrpt::poses::CPose3DQuatPDFGaussianInf::inverse(), mrpt::poses::CPose3DQuatPDFGaussian::inverse(), mrpt::poses::CPose3DQuat::inverseComposePoint(), and mrpt::poses::CPose3DPDF::jacobiansPoseComposition().

◆ insertMatrixTransposed()

void mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::insertMatrixTransposed	(	const int	row_start,
		const int	col_start,
		const OTHERMATVEC &	submat
	)

inlineinherited

Like insertMatrix(), but inserts ‘submat’` (transposed)

Definition at line 221 of file MatrixBase.h.

References ASSERT_BELOWEQ_, and mrpt::math::MatrixBase< Scalar, Derived >::mbDerived().

◆ inverse()

CMatrixFixed< T, ROWS, COLS > mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::inverse ( ) const

inherited

Returns the inverse of a general matrix using LU.

Definition at line 183 of file MatrixBase_impl.h.

References ASSERT_EQUAL_, and mrpt::math::UNINITIALIZED_MATRIX.

◆ inverse_LLt()

CMatrixFixed< T, ROWS, COLS > mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::inverse_LLt ( ) const

inherited

Returns the inverse of a symmetric matrix using LLt.

Definition at line 195 of file MatrixBase_impl.h.

References ASSERT_EQUAL_, and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by mrpt::slam::CICP::ICP_Method_LM().

◆ inverseRotatePoint()

template<class T>

void mrpt::math::CQuaternion< T >::inverseRotatePoint	(	const double	lx,
		const double	ly,
		const double	lz,
		double &	gx,
		double &	gy,
		double &	gz
	)		const

inline

Rotate a 3D point (lx,ly,lz) -> (gx,gy,gz) as described by the inverse (conjugate) of this quaternion.

Definition at line 274 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::poses::CPose3DQuat::inverseComposePoint().

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◆ isSquare()

bool mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::isSquare ( ) const

inlineinherited

returns true if matrix is NxN

Definition at line 257 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ llt_solve()

template<typename T, std::size_t ROWS, std::size_t COLS>

CMatrixFixed< T, ROWS, 1 > mrpt::math::CMatrixFixed< T, ROWS, COLS >::llt_solve ( const CMatrixFixed< T, ROWS, 1 > & b ) const

inherited

Solves the linear system Ax=b, returns x, with A this symmetric matrix.

See also: lu_solve()

Definition at line 34 of file CMatrixFixed_impl.h.

◆ ln() [1/2]

template<class T>

template<class ARRAYLIKE3 >

void mrpt::math::CQuaternion< T >::ln ( ARRAYLIKE3 & out_ln ) const

inline

Logarithm of the 3x3 matrix defined by this pose, generating the corresponding vector in the SO(3) Lie Algebra, which coincides with the so-called "rotation vector" (I don't have space here for the proof ;-).

Parameters

[out] out_ln The target vector, which can be: std::vector<>, or mrpt::math::CVectorDouble or any row or column Eigen::Matrix<>.

See also: exp, mrpt::poses::SE_traits

Definition at line 183 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::ln_noresize().

Referenced by QuaternionTests::test_ExpAndLnMatches(), and QuaternionTests::test_lnAndExpMatches().

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◆ ln() [2/2]

template<class T>

template<class ARRAYLIKE3 >

ARRAYLIKE3 mrpt::math::CQuaternion< T >::ln ( ) const

inline

overload that returns by value

Definition at line 190 of file CQuaternion.h.

◆ ln_noresize()

template<class T>

template<class ARRAYLIKE3 >

void mrpt::math::CQuaternion< T >::ln_noresize ( ARRAYLIKE3 & out_ln ) const

inline

Like ln() but does not try to resize the output vector.

Definition at line 198 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::r(), mrpt::square(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::math::CQuaternion< T >::ln().

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◆ loadFromArray()

template<typename T, std::size_t ROWS, std::size_t COLS>

template<typename VECTOR >

void mrpt::math::CMatrixFixed< T, ROWS, COLS >::loadFromArray ( const VECTOR & vals )

inlineinherited

Definition at line 171 of file CMatrixFixed.h.

Referenced by mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::CMatrixFixed(), mrpt::poses::CPose3DQuat::composePoint(), mrpt::vision::frameJac(), mrpt::math::TPose3D::getAsQuaternion(), mrpt::poses::CPose3DQuat::inverseComposePoint(), TEST(), and mrpt::hwdrivers::CRovio::TOptions::TOptions().

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◆ loadFromRawPointer()

template<typename T, std::size_t ROWS, std::size_t COLS>

void mrpt::math::CMatrixFixed< T, ROWS, COLS >::loadFromRawPointer ( const T * data )

inlineinherited

Initializes from a plain buffer with RowMajor values.

Unsafe, prefer loadFromArray() wherever possible, to ensure buffer length checks.

Definition at line 183 of file CMatrixFixed.h.

Referenced by mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::CMatrixFixed().

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◆ loadFromTextFile() [1/2]

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::loadFromTextFile ( std::istream & f )

inherited

Loads a vector/matrix from a text file, compatible with MATLAB text format.

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

Exceptions

std::runtime_error On format error.

See also: saveToTextFile, fromMatlabStringFormat

Definition at line 238 of file MatrixVectorBase_impl.h.

◆ loadFromTextFile() [2/2]

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::loadFromTextFile ( const std::string & file )

inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 326 of file MatrixVectorBase_impl.h.

◆ lu_solve()

template<typename T, std::size_t ROWS, std::size_t COLS>

CMatrixFixed< T, ROWS, 1 > mrpt::math::CMatrixFixed< T, ROWS, COLS >::lu_solve ( const CMatrixFixed< T, ROWS, 1 > & b ) const

inherited

Solves the linear system Ax=b, returns x, with A this asymmetric matrix.

See also: llt_solve()

Definition at line 49 of file CMatrixFixed_impl.h.

Referenced by mrpt::nav::CPTG_Holo_Blend::inverseMap_WS2TP().

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◆ matProductOf_AAt()

void mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::matProductOf_AAt ( const MAT_A & A )

inlineinherited

this = A * A^T

Definition at line 276 of file MatrixBase.h.

References mrpt::math::MatrixBase< Scalar, Derived >::mbDerived().

◆ matProductOf_AB()

void mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::matProductOf_AB	(	const CMatrixFixed< T, ROWS, COLS > &	A,
		const CMatrixFixed< T, ROWS, COLS > &	B
	)

inherited

this = A*B, with A & B of the same type of this.

For products of different matrix types, use the regular * operator (which requires the <Eigen/Dense> header)

Definition at line 175 of file MatrixBase_impl.h.

◆ matProductOf_Ab()

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::matProductOf_Ab	(	const CMatrixDynamic< T > &	A,
		const CVectorDynamic< T > &	b
	)

inherited

this = A * b , with A and b a dynamic matrix & vector

Definition at line 485 of file MatrixVectorBase_impl.h.

References mrpt::math::CVectorDynamic< T >::asEigen().

◆ matProductOf_AtA()

void mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::matProductOf_AtA ( const MAT_A & A )

inlineinherited

this = A^T * A

Definition at line 295 of file MatrixBase.h.

References mrpt::math::MatrixBase< Scalar, Derived >::mbDerived().

◆ matProductOf_Atb()

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::matProductOf_Atb	(	const CMatrixDynamic< T > &	A,
		const CVectorDynamic< T > &	b
	)

inherited

this = A^T * b , with A and b a dynamic matrix & vector

Definition at line 492 of file MatrixVectorBase_impl.h.

References mrpt::math::CVectorDynamic< T >::asEigen().

◆ maxCoeff() [1/3]

T mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::maxCoeff ( ) const

inherited

Maximum value in the matrix/vector.

Definition at line 363 of file MatrixVectorBase_impl.h.

◆ maxCoeff() [2/3]

T mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::maxCoeff ( std::size_t & outIndexOfMax ) const

inherited

Definition at line 384 of file MatrixVectorBase_impl.h.

◆ maxCoeff() [3/3]

T mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::maxCoeff	(	std::size_t &	rowIdx,
		std::size_t &	colIdx
	)		const

inherited

Definition at line 409 of file MatrixVectorBase_impl.h.

◆ maximumDiagonal()

T mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::maximumDiagonal ( ) const

inherited

Returns the maximum value in the diagonal.

Definition at line 207 of file MatrixBase_impl.h.

◆ mbDerived() [1/2]

CMatrixFixed< T, ROWS, COLS > & mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::mbDerived ( )

inlineinherited

Definition at line 26 of file MatrixBase.h.

◆ mbDerived() [2/2]

const CMatrixFixed< T, ROWS, COLS > & mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::mbDerived ( ) const

inlineinherited

Definition at line 27 of file MatrixBase.h.

◆ minCoeff() [1/3]

T mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::minCoeff ( ) const

inherited

Minimum value in the matrix/vector.

Definition at line 357 of file MatrixVectorBase_impl.h.

◆ minCoeff() [2/3]

T mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::minCoeff ( std::size_t & outIndexOfMin ) const

inherited

Definition at line 369 of file MatrixVectorBase_impl.h.

◆ minCoeff() [3/3]

T mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::minCoeff	(	std::size_t &	rowIdx,
		std::size_t &	colIdx
	)		const

inherited

Definition at line 398 of file MatrixVectorBase_impl.h.

◆ minimumDiagonal()

T mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::minimumDiagonal ( ) const

inherited

Returns the minimum value in the diagonal.

Definition at line 213 of file MatrixBase_impl.h.

◆ mvbDerived() [1/2]

CMatrixFixed< T, ROWS, COLS > & mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::mvbDerived ( )

inlineinherited

Definition at line 59 of file MatrixVectorBase.h.

◆ mvbDerived() [2/2]

const CMatrixFixed< T, ROWS, COLS > & mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::mvbDerived ( ) const

inlineinherited

Definition at line 60 of file MatrixVectorBase.h.

◆ norm()

T mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::norm ( ) const

inherited

Compute the L2 norm of a vector/array/matrix (the Euclidean distance to the origin, taking all the elements as a single vector).

See also: norm

Definition at line 505 of file MatrixVectorBase_impl.h.

Referenced by mrpt::nav::CPTG_Holo_Blend::inverseMap_WS2TP().

◆ norm_inf()

T mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::norm_inf ( ) const

inherited

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

Definition at line 499 of file MatrixVectorBase_impl.h.

◆ normalizationJacobian()

template<class T>

template<class MATRIXLIKE >

void mrpt::math::CQuaternion< T >::normalizationJacobian ( MATRIXLIKE & J ) const

inline

Calculate the 4x4 Jacobian of the normalization operation of this quaternion.

The output matrix can be a dynamic or fixed size (4x4) matrix.

Definition at line 313 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::normSqr(), mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::poses::CPose3DQuat::composePoint(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose3DQuatPDFGaussian::inverse(), mrpt::poses::CPose3DQuat::inverseComposePoint(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), and Pose3DQuatTests::test_normalizeJacob().

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◆ normalize()

template<class T>

void mrpt::math::CQuaternion< T >::normalize ( )

inline

Normalize this quaternion, so its norm becomes the unitity.

Definition at line 301 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::ensurePositiveRealPart(), and mrpt::math::CQuaternion< T >::normSqr().

Referenced by aux_posequat2poseypr(), mrpt::poses::CPose3DQuat::CPose3DQuat(), mrpt::math::CQuaternion< T >::crossProduct(), Pose3DQuatTests::func_compose_point(), Pose3DQuatPDFGaussTests::func_inv_compose(), Pose3DQuatTests::func_inv_compose_point(), Pose3DQuatPDFGaussTests::func_inverse(), Pose3DQuatTests::func_normalizeJacob(), and Pose3DQuatTests::func_spherical_coords().

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◆ normSqr()

template<class T>

double mrpt::math::CQuaternion< T >::normSqr ( ) const

inline

Return the squared norm of the quaternion.

Definition at line 293 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::r(), mrpt::square(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::math::CQuaternion< T >::CQuaternion(), mrpt::math::CQuaternion< T >::fromRodriguesVector(), mrpt::math::CQuaternion< T >::normalizationJacobian(), and mrpt::math::CQuaternion< T >::normalize().

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◆ operator!=()

bool mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator!= ( const OTHERMATVEC & o ) const

inlineinherited

Definition at line 432 of file MatrixVectorBase.h.

◆ operator()() [1/4]

template<typename T, std::size_t ROWS, std::size_t COLS>

T& mrpt::math::CMatrixFixed< T, ROWS, COLS >::operator()	(	int	row,
		int	col
	)

inlineinherited

Access (row,col), without out-of-bounds check (except in Debug builds)

Definition at line 292 of file CMatrixFixed.h.

◆ operator()() [2/4]

template<typename T, std::size_t ROWS, std::size_t COLS>

const T& mrpt::math::CMatrixFixed< T, ROWS, COLS >::operator()	(	int	row,
		int	col
	)		const

inlineinherited

Definition at line 298 of file CMatrixFixed.h.

◆ operator()() [3/4]

template<typename T, std::size_t ROWS, std::size_t COLS>

T& mrpt::math::CMatrixFixed< T, ROWS, COLS >::operator() ( int i )

inlineinherited

Access the i-th element, Row-Major order, without out-of-bounds check (except in Debug builds)

Definition at line 308 of file CMatrixFixed.h.

◆ operator()() [4/4]

template<typename T, std::size_t ROWS, std::size_t COLS>

const T& mrpt::math::CMatrixFixed< T, ROWS, COLS >::operator() ( int i ) const

inlineinherited

Definition at line 313 of file CMatrixFixed.h.

◆ operator*() [1/5]

auto mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator* ( const MatrixVectorBase< S2, D2 > & m2 ) const

inlineinherited

Definition at line 214 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ operator*() [2/5]

auto mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator* ( const T s ) const

inlineinherited

Definition at line 219 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ operator*() [3/5]

CMatrixDynamic< T > mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator* ( const CMatrixDynamic< T > & v )

inherited

Definition at line 438 of file MatrixVectorBase_impl.h.

References mrpt::math::CMatrixDynamic< T >::asEigen().

◆ operator*() [4/5]

CMatrixFixed< T, ROWS, COLS > mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator* ( const CMatrixFixed< T, ROWS, COLS > & m2 ) const

inherited

Definition at line 470 of file MatrixVectorBase_impl.h.

References ASSERTMSG_.

◆ operator*() [5/5]

template<class T>

CQuaternion mrpt::math::CQuaternion< T >::operator* ( const T & factor )

inline

Definition at line 529 of file CQuaternion.h.

◆ operator*=()

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator*= ( T s )

inherited

Definition at line 432 of file MatrixVectorBase_impl.h.

◆ operator+() [1/2]

auto mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator+ ( const MatrixVectorBase< S2, D2 > & m2 ) const

inlineinherited

Definition at line 188 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ operator+() [2/2]

CMatrixFixed< T, ROWS, COLS > mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator+ ( const CMatrixFixed< T, ROWS, COLS > & m2 ) const

inlineinherited

Definition at line 279 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::impl_op_add().

◆ operator+=() [1/3]

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator+= ( const MatrixVectorBase< S2, D2 > & m2 )

inlineinherited

Definition at line 194 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ operator+=() [2/3]

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator+= ( T s )

inherited

Definition at line 420 of file MatrixVectorBase_impl.h.

◆ operator+=() [3/3]

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator+= ( const CMatrixFixed< T, ROWS, COLS > & m2 )

inlineinherited

Definition at line 294 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::impl_op_selfadd().

◆ operator-() [1/3]

auto mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator- ( ) const

inlineinherited

Definition at line 181 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ operator-() [2/3]

auto mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator- ( const MatrixVectorBase< S2, D2 > & m2 ) const

inlineinherited

Definition at line 201 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ operator-() [3/3]

CMatrixFixed< T, ROWS, COLS > mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator- ( const CMatrixFixed< T, ROWS, COLS > & m2 ) const

inlineinherited

Definition at line 309 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::impl_op_subs().

◆ operator-=() [1/3]

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator-= ( const MatrixVectorBase< S2, D2 > & m2 )

inlineinherited

Definition at line 207 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ operator-=() [2/3]

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator-= ( T s )

inherited

Definition at line 426 of file MatrixVectorBase_impl.h.

◆ operator-=() [3/3]

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator-= ( const CMatrixFixed< T, ROWS, COLS > & m2 )

inlineinherited

Definition at line 324 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::impl_op_selfsubs().

◆ operator==()

bool mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::operator== ( const OTHERMATVEC & o ) const

inlineinherited

Definition at line 422 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ operator[]() [1/2]

template<typename T, std::size_t ROWS, std::size_t COLS>

T& mrpt::math::CMatrixFixed< T, ROWS, COLS >::operator[] ( int i )

inlineinherited

Access the [i-th] element (for 1xN or Nx1 matrices)

Definition at line 320 of file CMatrixFixed.h.

◆ operator[]() [2/2]

template<typename T, std::size_t ROWS, std::size_t COLS>

const T& mrpt::math::CMatrixFixed< T, ROWS, COLS >::operator[] ( int i ) const

inlineinherited

Definition at line 326 of file CMatrixFixed.h.

◆ r() [1/3]

template<class T>

T mrpt::math::CQuaternion< T >::r ( ) const

inline

Return r (real part) coordinate of the quaternion.

Definition at line 101 of file CQuaternion.h.

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◆ r() [2/3]

template<class T>

void mrpt::math::CQuaternion< T >::r ( const T r )

inline

Set r (real part) coordinate of the quaternion.

Definition at line 111 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::r().

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◆ r() [3/3]

template<class T>

T& mrpt::math::CQuaternion< T >::r ( )

inline

Definition at line 121 of file CQuaternion.h.

◆ rank()

int mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::rank ( T threshold = 0 ) const

inherited

Finds the rank of the matrix via LU decomposition.

Uses Eigen's default threshold unless threshold>0.

Definition at line 156 of file MatrixBase_impl.h.

◆ removeColumns()

void mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::removeColumns ( const std::vector< std::size_t > & idxsToRemove )

inherited

Removes columns of the matrix.

Indices may be unsorted and duplicated

Definition at line 38 of file MatrixBase_impl.h.

◆ removeRows()

void mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::removeRows ( const std::vector< std::size_t > & idxsToRemove )

inherited

Removes rows of the matrix.

Indices may be unsorted and duplicated

Definition at line 65 of file MatrixBase_impl.h.

◆ resize() [1/3]

template<typename T, std::size_t ROWS, std::size_t COLS>

void mrpt::math::CMatrixFixed< T, ROWS, COLS >::resize ( size_t n )

inlineinherited

Definition at line 204 of file CMatrixFixed.h.

Referenced by mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::resize().

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◆ resize() [2/3]

template<typename T, std::size_t ROWS, std::size_t COLS>

void mrpt::math::CMatrixFixed< T, ROWS, COLS >::resize	(	const matrix_size_t &	siz,
		[[maybe_unused] ] bool	zeroNewElements = `false`
	)

inlineinherited

Throws if size does not match with the fixed matrix size.

Definition at line 215 of file CMatrixFixed.h.

◆ resize() [3/3]

template<typename T, std::size_t ROWS, std::size_t COLS>

void mrpt::math::CMatrixFixed< T, ROWS, COLS >::resize	(	size_t	row,
		size_t	col
	)

inlineinherited

Definition at line 220 of file CMatrixFixed.h.

◆ rotatePoint()

template<class T>

void mrpt::math::CQuaternion< T >::rotatePoint	(	const double	lx,
		const double	ly,
		const double	lz,
		double &	gx,
		double &	gy,
		double &	gz
	)		const

inline

Rotate a 3D point (lx,ly,lz) -> (gx,gy,gz) as described by this quaternion.

Definition at line 253 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::poses::CPose3DQuat::composePoint(), and mrpt::poses::CPose3DQuat::inverseComposeFrom().

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◆ rotationJacobian()

template<class T>

template<class MATRIXLIKE >

void mrpt::math::CQuaternion< T >::rotationJacobian ( MATRIXLIKE & J ) const

inline

Compute the Jacobian of the rotation composition operation $p = f(\cdot) = q_{this} \times r$ , that is the 4x4 matrix $\frac{\partial f}{\partial q_{this} }$ .

The output matrix can be a dynamic or fixed size (4x4) matrix.

Definition at line 345 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

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◆ rotationMatrix() [1/2]

template<class T>

template<class MATRIXLIKE >

void mrpt::math::CQuaternion< T >::rotationMatrix ( MATRIXLIKE & M ) const

inline

Calculate the 3x3 rotation matrix associated to this quaternion:

$\mathbf{R} = \left( \begin{array}{ccc} q_r^2+q_x^2-q_y^2-q_z^2 & 2(q_x q_y - q_r q_z) & 2(q_z q_x+q_r q_y) \\ 2(q_x q_y+q_r q_z) & q_r^2-q_x^2+q_y^2-q_z^2 & 2(q_y q_z-q_r q_x) \\ 2(q_z q_x-q_r q_y) & 2(q_y q_z+q_r q_x) & q_r^2- q_x^2 - q_y^2 + q_z^2 \end{array} \right)$

.

Definition at line 380 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::rotationMatrixNoResize().

Referenced by quat_vs_YPR().

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◆ rotationMatrix() [2/2]

template<class T>

template<class MATRIXLIKE >

MATRIXLIKE mrpt::math::CQuaternion< T >::rotationMatrix ( ) const

inline

Definition at line 387 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::rotationMatrixNoResize().

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◆ rotationMatrixNoResize()

template<class T>

template<class MATRIXLIKE >

void mrpt::math::CQuaternion< T >::rotationMatrixNoResize ( MATRIXLIKE & M ) const

inline

Fill out the top-left 3x3 block of the given matrix with the rotation matrix associated to this quaternion (does not resize the matrix, for that, see rotationMatrix).

Definition at line 398 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::r(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::poses::CPose3D::CPose3D(), mrpt::poses::CPose3DQuat::getHomogeneousMatrix(), and mrpt::math::CQuaternion< T >::rotationMatrix().

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◆ row() [1/2]

auto mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::row ( int rowIdx )

inlineinherited

Definition at line 100 of file MatrixBase.h.

References mrpt::math::MatrixBase< Scalar, Derived >::mbDerived().

Referenced by mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::conservativeResize(), mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::operator()(), mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::resize(), and mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::setSize().

◆ row() [2/2]

auto mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::row ( int rowIdx ) const

inlineinherited

Definition at line 105 of file MatrixBase.h.

References mrpt::math::MatrixBase< Scalar, Derived >::mbDerived().

◆ rows()

template<typename T, std::size_t ROWS, std::size_t COLS>

constexpr size_type mrpt::math::CMatrixFixed< T, ROWS, COLS >::rows ( ) const

inlineinherited

Number of rows in the matrix.

See also: rows()

Definition at line 227 of file CMatrixFixed.h.

Referenced by mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::CMatrixFixed(), mrpt::poses::CPose3DPDFGaussian::enforceCovSymmetry(), mrpt::poses::CPose3DPDFGaussianInf::enforceCovSymmetry(), mrpt::poses::CPose3DQuatPDFGaussian::enforceCovSymmetry(), mrpt::math::operator>>(), mrpt::vision::pinhole::projectPoints_with_distortion(), quat_vs_YPR(), mrpt::poses::CPose3DQuatPDFGaussianInf::serializeFrom(), mrpt::poses::CPose3DQuatPDFGaussianInf::serializeTo(), mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::setFromMatrixLike(), and TEST().

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◆ rpy()

template<class T>

void mrpt::math::CQuaternion< T >::rpy	(	T &	roll,
		T &	pitch,
		T &	yaw
	)		const

inline

Return the yaw, pitch & roll angles associated to quaternion.

See also: For the equations, see The MRPT Book, or see http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/Quaternions.pdf; rpy_and_jacobian

Definition at line 433 of file CQuaternion.h.

References mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, and mrpt::math::CQuaternion< T >::rpy_and_jacobian().

Referenced by aux_posequat2poseypr(), mrpt::poses::CPose3D::CPose3D(), mrpt::poses::internal::getPoseFromString(), mrpt::math::slerp(), and mrpt::math::slerp_ypr().

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◆ rpy_and_jacobian()

template<class T>

template<class MATRIXLIKE >

void mrpt::math::CQuaternion< T >::rpy_and_jacobian	(	T &	roll,
		T &	pitch,
		T &	yaw,
		MATRIXLIKE *	out_dr_dq = `nullptr`,
		bool	resize_out_dr_dq_to3x4 = `true`
	)		const

inline

Return the yaw, pitch & roll angles associated to quaternion, and (optionally) the 3x4 Jacobian of the transformation.

Note that both the angles and the Jacobian have one set of normal equations, plus other special formulas for the degenerated cases of |pitch|=90 degrees.

See also: For the equations, see The MRPT Book, or http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/Quaternions.pdf; rpy

Definition at line 449 of file CQuaternion.h.

References M_PI, mrpt::obs::gnss::pitch, mrpt::math::CQuaternion< T >::r(), mrpt::obs::gnss::roll, mrpt::square(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), and mrpt::math::CQuaternion< T >::rpy().

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◆ saveToTextFile()

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::saveToTextFile	(	const std::string &	file,
		mrpt::math::TMatrixTextFileFormat	fileFormat = `mrpt::math::MATRIX_FORMAT_ENG`,
		bool	appendMRPTHeader = `false`,
		const std::string &	userHeader = `std::string()`
	)		const

inherited

Saves the vector/matrix to a file compatible with MATLAB/Octave 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, CMatrixDynamic::inMatlabFormat, SAVE_MATRIX

Definition at line 159 of file MatrixVectorBase_impl.h.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mrpt::math::MATRIX_FORMAT_ENG, mrpt::math::MATRIX_FORMAT_FIXED, and mrpt::math::MATRIX_FORMAT_INT.

◆ setConstant() [1/3]

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::setConstant ( const T value )

inlineinherited

Definition at line 75 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::fill().

◆ setConstant() [2/3]

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::setConstant	(	size_t	nrows,
		size_t	ncols,
		const T	value
	)

inlineinherited

Definition at line 76 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::fill(), and mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ setConstant() [3/3]

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::setConstant	(	size_t	nrows,
		const T	value
	)

inlineinherited

Definition at line 81 of file MatrixVectorBase.h.

References ASSERTMSG_, and mrpt::math::MatrixVectorBase< Scalar, Derived >::setConstant().

◆ setDiagonal() [1/3]

void mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::setDiagonal	(	const std::size_t	N,
		const T	value
	)

inlineinherited

Resize to NxN, set all entries to zero, except the main diagonal which is set to value

Definition at line 34 of file MatrixBase.h.

References mrpt::math::MatrixBase< Scalar, Derived >::mbDerived().

Referenced by mrpt::img::CCanvas::ellipseGaussian(), and mrpt::math::MATLAB_plotCovariance2D().

◆ setDiagonal() [2/3]

void mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::setDiagonal ( const T value )

inlineinherited

Set all entries to zero, except the main diagonal which is set to value

Definition at line 43 of file MatrixBase.h.

References ASSERT_EQUAL_, mrpt::math::MatrixBase< Scalar, Derived >::mbDerived(), and mrpt::math::MatrixBase< Scalar, Derived >::setDiagonal().

◆ setDiagonal() [3/3]

void mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::setDiagonal ( const std::vector< T > & diags )

inlineinherited

Resizes to NxN, with N the length of the input vector, set all entries to zero, except the main diagonal which is set to values in the vector.

Definition at line 51 of file MatrixBase.h.

References mrpt::math::MatrixBase< Scalar, Derived >::mbDerived().

◆ setFromMatrixLike()

template<typename T, std::size_t ROWS, std::size_t COLS>

template<class MAT >

void mrpt::math::CMatrixFixed< T, ROWS, COLS >::setFromMatrixLike ( const MAT & m )

inlineinherited

Definition at line 132 of file CMatrixFixed.h.

Referenced by mrpt::vision::CDifodo::computeWeights(), and mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::operator=().

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◆ setIdentity() [1/2]

void mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::setIdentity ( )

inlineinherited

Definition at line 57 of file MatrixBase.h.

References ASSERT_EQUAL_, mrpt::math::MatrixBase< Scalar, Derived >::mbDerived(), and mrpt::math::MatrixBase< Scalar, Derived >::setDiagonal().

Referenced by TEST().

◆ setIdentity() [2/2]

void mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::setIdentity ( const std::size_t N )

inlineinherited

Definition at line 62 of file MatrixBase.h.

References mrpt::math::MatrixBase< Scalar, Derived >::setDiagonal().

◆ setSize()

template<typename T, std::size_t ROWS, std::size_t COLS>

void mrpt::math::CMatrixFixed< T, ROWS, COLS >::setSize	(	size_t	row,
		size_t	col,
		[[maybe_unused] ] bool	zeroNewElements = `false`
	)

inlineinherited

Throws if size does not match with the fixed matrix size.

Definition at line 190 of file CMatrixFixed.h.

Referenced by mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::conservativeResize(), and mrpt::math::CMatrixFixed< double, ObsDim, PointDof >::setFromMatrixLike().

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◆ setZero() [1/3]

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::setZero ( )

inlineinherited

Definition at line 112 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::fill().

Referenced by mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean(), mrpt::vision::recompute_errors_and_Jacobians(), Pose3DTests::test_Jacob_dAexpeD_de(), Pose3DTests::test_Jacob_dDexpe_de(), and Pose3DTests::test_Jacob_dexpeD_de().

◆ setZero() [2/3]

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::setZero	(	size_t	nrows,
		size_t	ncols
	)

inlineinherited

Definition at line 113 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::setConstant().

◆ setZero() [3/3]

void mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::setZero ( size_t nrows )

inlineinherited

Definition at line 117 of file MatrixVectorBase.h.

References ASSERTMSG_, and mrpt::math::MatrixVectorBase< Scalar, Derived >::setConstant().

◆ size()

template<typename T, std::size_t ROWS, std::size_t COLS>

constexpr matrix_size_t mrpt::math::CMatrixFixed< T, ROWS, COLS >::size ( ) const

inlineinherited

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

Definition at line 233 of file CMatrixFixed.h.

Referenced by mrpt::obs::CObservation3DRangeScan::getDescriptionAsText(), mrpt::img::TCamera::getDistortionParamsVector(), mrpt::obs::CObservationGPS::serializeFrom(), and mrpt::obs::detail::unprojectInto().

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◆ sum()

T mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::sum ( ) const

inherited

Sum of all elements in matrix/vector.

Definition at line 345 of file MatrixVectorBase_impl.h.

◆ sum_abs()

T mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::sum_abs ( ) const

inherited

Sum of the absolute value of all elements in matrix/vector.

Definition at line 351 of file MatrixVectorBase_impl.h.

◆ sum_At()

template<typename T, std::size_t ROWS, std::size_t COLS>

void mrpt::math::CMatrixFixed< T, ROWS, COLS >::sum_At ( const CMatrixFixed< Scalar, ROWS, COLS > & A )

inlineinherited

this += A^T

Definition at line 345 of file CMatrixFixed.h.

◆ swap()

template<typename T, std::size_t ROWS, std::size_t COLS>

void mrpt::math::CMatrixFixed< T, ROWS, COLS >::swap ( CMatrixFixed< T, ROWS, COLS > & o )

inlineinherited

Definition at line 197 of file CMatrixFixed.h.

Referenced by mrpt::poses::CPose3DQuat::swap().

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◆ tail()

CMatrixFixed<T , N, 1> mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::tail ( ) const

inlineinherited

Definition at line 226 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ trace()

T mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::trace ( ) const

inherited

Returns the trace of the matrix (not necessarily square).

Definition at line 219 of file MatrixBase_impl.h.

◆ transpose() [1/2]

auto mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::transpose ( )

inlineinherited

Definition at line 159 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

Referenced by mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::img::CCanvas::ellipseGaussian(), and mrpt::math::MATLAB_plotCovariance2D().

◆ transpose() [2/2]

auto mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::transpose ( ) const

inlineinherited

Definition at line 164 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::mvbDerived().

◆ unsafeRemoveColumns()

void mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::unsafeRemoveColumns ( const std::vector< std::size_t > & idxs )

inherited

Removes columns of the matrix.

This "unsafe" version assumes indices sorted in ascending order.

Definition at line 22 of file MatrixBase_impl.h.

◆ unsafeRemoveRows()

void mrpt::math::MatrixBase< T , CMatrixFixed< T, ROWS, COLS > >::unsafeRemoveRows ( const std::vector< std::size_t > & idxs )

inherited

Removes rows of the matrix.

This "unsafe" version assumes indices sorted in ascending order.

Definition at line 49 of file MatrixBase_impl.h.

◆ w() [1/2]

template<class T>

T mrpt::math::CQuaternion< T >::w ( ) const

inline

Return w (real part) coordinate of the quaternion.

Alias of r()

Definition at line 103 of file CQuaternion.h.

Referenced by mrpt::math::TPose3D::getAsQuaternion(), quat_vs_YPR(), and mrpt::math::CQuaternion< T >::w().

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◆ w() [2/2]

template<class T>

void mrpt::math::CQuaternion< T >::w ( const T w )

inline

Set w (real part) coordinate of the quaternion.

Alias of r()

Definition at line 113 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::w().

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◆ x() [1/3]

template<class T>

T mrpt::math::CQuaternion< T >::x ( ) const

inline

Return x coordinate of the quaternion.

Definition at line 105 of file CQuaternion.h.

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◆ x() [2/3]

template<class T>

void mrpt::math::CQuaternion< T >::x ( const T x )

inline

Set x coordinate of the quaternion.

Definition at line 115 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::x().

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◆ x() [3/3]

template<class T>

T& mrpt::math::CQuaternion< T >::x ( )

inline

Definition at line 122 of file CQuaternion.h.

◆ y() [1/3]

template<class T>

T mrpt::math::CQuaternion< T >::y ( ) const

inline

Return y coordinate of the quaternion.

Definition at line 107 of file CQuaternion.h.

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◆ y() [2/3]

template<class T>

void mrpt::math::CQuaternion< T >::y ( const T y )

inline

Set y coordinate of the quaternion.

Definition at line 117 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::y().

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◆ y() [3/3]

template<class T>

T& mrpt::math::CQuaternion< T >::y ( )

inline

Definition at line 123 of file CQuaternion.h.

◆ z() [1/3]

template<class T>

T mrpt::math::CQuaternion< T >::z ( ) const

inline

Return z coordinate of the quaternion.

Definition at line 109 of file CQuaternion.h.

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◆ z() [2/3]

template<class T>

void mrpt::math::CQuaternion< T >::z ( const T z )

inline

Set z coordinate of the quaternion.

Definition at line 119 of file CQuaternion.h.

References mrpt::math::CQuaternion< T >::z().

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◆ z() [3/3]

template<class T>

T& mrpt::math::CQuaternion< T >::z ( )

inline

Definition at line 124 of file CQuaternion.h.

◆ Zero() [1/2]

static CMatrixFixed< T, ROWS, COLS > mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::Zero ( )

inlinestaticinherited

Definition at line 125 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::Constant().

◆ Zero() [2/2]

static CMatrixFixed< T, ROWS, COLS > mrpt::math::MatrixVectorBase< T , CMatrixFixed< T, ROWS, COLS > >::Zero	(	size_t	nrows,
		size_t	ncols
	)

inlinestaticinherited

Definition at line 126 of file MatrixVectorBase.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::Constant().

Member Data Documentation

◆ ColsAtCompileTime

template<typename T, std::size_t ROWS, std::size_t COLS>

constexpr int mrpt::math::CMatrixFixed< T, ROWS, COLS >::ColsAtCompileTime = COLS

staticinherited

Definition at line 52 of file CMatrixFixed.h.

◆ is_mrpt_type

template<typename T, std::size_t ROWS, std::size_t COLS>

constexpr int mrpt::math::CMatrixFixed< T, ROWS, COLS >::is_mrpt_type = 1

staticinherited

Definition at line 54 of file CMatrixFixed.h.

◆ RowsAtCompileTime

template<typename T, std::size_t ROWS, std::size_t COLS>

constexpr int mrpt::math::CMatrixFixed< T, ROWS, COLS >::RowsAtCompileTime = ROWS

staticinherited

Definition at line 51 of file CMatrixFixed.h.

◆ SizeAtCompileTime

template<typename T, std::size_t ROWS, std::size_t COLS>

constexpr int mrpt::math::CMatrixFixed< T, ROWS, COLS >::SizeAtCompileTime = ROWS * COLS

staticinherited

Definition at line 53 of file CMatrixFixed.h.

◆ StorageOrder

template<typename T, std::size_t ROWS, std::size_t COLS>

constexpr int mrpt::math::CMatrixFixed< T, ROWS, COLS >::StorageOrder

staticinherited

Initial value:

=

(ROWS != 1 && COLS == 1) ? 0 : 1

Definition at line 55 of file CMatrixFixed.h.

Detailed Description

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

Public Member Functions

Static Public Member Functions

Private Types

Matrix type definitions

Iterators interface

Lie Algebra methods

Initialization methods

Member Typedef Documentation

◆ Base

◆ const_iterator

◆ const_reference

◆ difference_type

◆ eigen_t

◆ Index

◆ iterator

◆ reference

◆ Scalar

◆ size_type

◆ value_type

Constructor & Destructor Documentation

◆ CQuaternion() [1/3]

◆ CQuaternion() [2/3]

◆ CQuaternion() [3/3]

Member Function Documentation

◆ array() [1/2]

◆ array() [2/2]

◆ asEigen() [1/2]

◆ asEigen() [2/2]

◆ assign()

◆ asString()

◆ begin() [1/2]

◆ begin() [2/2]

◆ block() [1/3]

◆ block() [2/3]

◆ block() [3/3]

◆ blockCopy() [1/2]

◆ blockCopy() [2/2]

◆ cast_double()

◆ cast_float()

◆ cbegin()

◆ cend()

◆ chol()

◆ coeff()

◆ coeffRef()

◆ col() [1/2]

◆ col() [2/2]

◆ cols()

◆ conj() [1/2]

◆ conj() [2/2]

◆ conservativeResize()

◆ Constant() [1/2]

◆ Constant() [2/2]

◆ crossProduct()

◆ data() [1/2]

◆ data() [2/2]

◆ derived() [1/2]

◆ derived() [2/2]

◆ det()

◆ dot() [1/2]

◆ dot() [2/2]

◆ eig()

◆ eig_symmetric()

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ ensurePositiveRealPart()

◆ exp() [1/2]

◆ exp() [2/2]

◆ extractColumn() [1/2]

◆ extractColumn() [2/2]

◆ extractMatrix() [1/2]

◆ extractMatrix() [2/2]

◆ extractRow() [1/2]

◆ extractRow() [2/2]

◆ fill()

◆ fromMatlabStringFormat()

◆ fromRodriguesVector()

◆ head()

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