Detailed Description

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

Template for column vectors of dynamic size, compatible with Eigen.

Note: For a complete introduction to Matrices and vectors in MRPT, see: http://www.mrpt.org/Matrices_vectors_arrays_and_Linear_Algebra_MRPT_and_Eigen_classes

See also: CVectorDynamic, CMatrixFixed, CVectorFixed

Definition at line 31 of file CVectorDynamic.h.

#include <mrpt/math/CVectorDynamic.h>

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

Public Member Functions
void	realloc (const size_t new_len, bool newElementsToZero=false)
	Internal use only: It reallocs the memory for the 2D matrix, maintaining the previous contents if posible. More...

void	swap (CVectorDynamic< T > &o)

	CVectorDynamic ()=default

	CVectorDynamic (size_t N, bool initZero=true)
	Initializes to a vector of "N" zeros. More...

template<typename U >
	CVectorDynamic (const CVectorDynamic< U > &m)
	Copy (casting from if needed) from another matrix. More...

template<std::size_t ROWS>
	CVectorDynamic (const CMatrixFixed< T, ROWS, 1 > &v)
	Ctor from a fixed-size vector. More...

template<typename ARRAY , typename = std::enable_if_t<std::is_array_v<ARRAY>>>
	CVectorDynamic (const ARRAY &data)
	Constructor from a given size and a C array. More...

template<class Derived >
	CVectorDynamic (const Eigen::MatrixBase< Derived > &m)
	Convert from Eigen matrix. More...

size_type	rows () const
	Number of rows in the vector. More...

size_type	cols () const
	Number of columns in the matrix (always 1) More...

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

bool	empty () const

void	setSize (size_t row, size_t col, bool zeroNewElements=false)
	Changes the size of matrix, maintaining the previous contents. More...

void	resize (std::size_t N, bool zeroNewElements=false)

template<class MAT >
void	fromVectorLike (const MAT &m)

template<typename U >
CVectorDynamic &	operator= (const CMatrixDynamic< U > &m)
	Assignment operator from another matrix (possibly of a different type) More...

template<class Derived >
CVectorDynamic &	operator= (const Eigen::MatrixBase< Derived > &m)
	Assignment from an Eigen matrix. More...

template<std::size_t ROWS>
CVectorDynamic &	operator= (const CMatrixFixed< T, ROWS, 1 > &v)
	Assignment from a fixed-size vector. More...

void	push_back (const T &val)

template<int LEN>
CMatrixFixed< Scalar, LEN, 1 >	segmentCopy (int start=0) const
	const segmentCopy(): Returns a copy of the given vector segment More...

CVectorDynamic< Scalar >	segmentCopy (int start, int LEN) const
	const segmentCopy(): Returns a copy of the given vector segment (non templated version, dynamic length) More...

T &	operator() (size_t row, size_t col)
	Subscript operator to get/set individual elements. More...

const T &	operator() (size_t row, size_t col) const
	Subscript operator to get individual elements. More...

T &	operator[] (size_t ith)
	Subscript operator to get/set an individual element from a row or column matrix. More...

const T &	operator[] (size_t ith) const

template<typename EIGEN_VECTOR = eigen_t, typename EIGEN_MAP = Eigen::Map< EIGEN_VECTOR, MRPT_MAX_ALIGN_BYTES, Eigen::InnerStride<1>>>
EIGEN_MAP	asEigen ()
	Get as an Eigen-compatible Eigen::Map object. More...

template<typename EIGEN_VECTOR = Eigen::Matrix<T, -1, 1, 0, -1, 1>, typename EIGEN_MAP = Eigen::Map< const EIGEN_VECTOR, MRPT_MAX_ALIGN_BYTES, Eigen::InnerStride<1>>>
EIGEN_MAP	asEigen () const

template<typename T2 >
CVectorDynamic< T2 >	cast () const

CVectorDynamic< T > &	mvbDerived ()

const CVectorDynamic< T > &	mvbDerived () const

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>`)
CVectorDynamic< T >	operator- (const CVectorDynamic< T > &m2) const

CVectorDynamic< T >	operator+ (const CVectorDynamic< T > &m2) const

void	operator+= (T s)

void	operator+= (const CVectorDynamic< T > &m2)

void	operator-= (T s)

void	operator-= (const CVectorDynamic< T > &m2)

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

CVectorDynamic< T >	operator* (const CVectorDynamic< T > &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...

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, CVectorDynamic< T > > &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

Protected Types
using	vec_t = mrpt::containers::vector_with_small_size_optimization< T, small_size, MRPT_MAX_STATIC_ALIGN_BYTES >

Protected Attributes
vec_t	m_data

Static Protected Attributes
static constexpr size_t	small_size = 16

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, -1, 1, 0, -1, 1 >

static constexpr int	RowsAtCompileTime = -1

static constexpr int	ColsAtCompileTime = 1

static constexpr int	is_mrpt_type = 1

Iterators interface
using	iterator = typename vec_t::iterator

using	const_iterator = typename vec_t::const_iterator

iterator	begin ()

iterator	end ()

const_iterator	begin () const

const_iterator	end () const

const_iterator	cbegin () const

const_iterator	cend () const

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 CVectorDynamic< T >	Constant (const T value)

static CVectorDynamic< T >	Constant (size_t nrows, size_t ncols, const T value)

static CVectorDynamic< T >	Zero ()

static CVectorDynamic< T >	Zero (size_t nrows, size_t ncols)

Member Typedef Documentation

◆ const_iterator

template<class T>

using mrpt::math::CVectorDynamic< T >::const_iterator = typename vec_t::const_iterator

Definition at line 60 of file CVectorDynamic.h.

◆ const_reference

template<class T>

using mrpt::math::CVectorDynamic< T >::const_reference = const T&

Definition at line 48 of file CVectorDynamic.h.

◆ difference_type

template<class T>

using mrpt::math::CVectorDynamic< T >::difference_type = std::ptrdiff_t

Definition at line 50 of file CVectorDynamic.h.

◆ eigen_t

template<class T>

using mrpt::math::CVectorDynamic< T >::eigen_t = Eigen::Matrix<T, -1, 1, 0, -1, 1>

Definition at line 54 of file CVectorDynamic.h.

◆ Index

template<class T>

using mrpt::math::CVectorDynamic< T >::Index = int

Definition at line 46 of file CVectorDynamic.h.

◆ iterator

template<class T>

using mrpt::math::CVectorDynamic< T >::iterator = typename vec_t::iterator

Definition at line 59 of file CVectorDynamic.h.

◆ reference

template<class T>

using mrpt::math::CVectorDynamic< T >::reference = T&

Definition at line 47 of file CVectorDynamic.h.

◆ Scalar

template<class T>

using mrpt::math::CVectorDynamic< T >::Scalar = T

Definition at line 45 of file CVectorDynamic.h.

◆ size_type

template<class T>

using mrpt::math::CVectorDynamic< T >::size_type = int

Definition at line 49 of file CVectorDynamic.h.

◆ value_type

template<class T>

using mrpt::math::CVectorDynamic< T >::value_type = T

The type of the matrix elements.

Definition at line 44 of file CVectorDynamic.h.

◆ vec_t

template<class T>

using mrpt::math::CVectorDynamic< T >::vec_t = mrpt::containers::vector_with_small_size_optimization< T, small_size, MRPT_MAX_STATIC_ALIGN_BYTES>

protected

Definition at line 36 of file CVectorDynamic.h.

Constructor & Destructor Documentation

◆ CVectorDynamic() [1/6]

template<class T>

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

default

◆ CVectorDynamic() [2/6]

template<class T>

mrpt::math::CVectorDynamic< T >::CVectorDynamic	(	size_t	N,
		bool	initZero = `true`
	)

inline

Initializes to a vector of "N" zeros.

Definition at line 92 of file CVectorDynamic.h.

◆ CVectorDynamic() [3/6]

template<class T>

template<typename U >

mrpt::math::CVectorDynamic< T >::CVectorDynamic ( const CVectorDynamic< U > & m )

inlineexplicit

Copy (casting from if needed) from another matrix.

Definition at line 96 of file CVectorDynamic.h.

◆ CVectorDynamic() [4/6]

template<class T>

template<std::size_t ROWS>

mrpt::math::CVectorDynamic< T >::CVectorDynamic ( const CMatrixFixed< T, ROWS, 1 > & v )

inlineexplicit

Ctor from a fixed-size vector.

Definition at line 103 of file CVectorDynamic.h.

◆ CVectorDynamic() [5/6]

template<class T>

template<typename ARRAY , typename = std::enable_if_t<std::is_array_v<ARRAY>>>

mrpt::math::CVectorDynamic< T >::CVectorDynamic ( const ARRAY & data )

inline

Constructor from a given size and a C array.

The array length must match cols x row.

const double numbers[] = {
  1,2,3,
  4,5,6 };
CMatrixDouble   M(3,2, numbers);

Definition at line 119 of file CVectorDynamic.h.

◆ CVectorDynamic() [6/6]

template<class T>

template<class Derived >

mrpt::math::CVectorDynamic< T >::CVectorDynamic ( const Eigen::MatrixBase< Derived > & m )

inlineexplicit

Convert from Eigen matrix.

Definition at line 129 of file CVectorDynamic.h.

Member Function Documentation

◆ array() [1/2]

auto mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::array ( )

inlineinherited

Definition at line 170 of file MatrixVectorBase.h.

◆ array() [2/2]

auto mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::array ( ) const

inlineinherited

Definition at line 175 of file MatrixVectorBase.h.

◆ asEigen() [1/2]

template<class T>

template<typename EIGEN_VECTOR = eigen_t, typename EIGEN_MAP = Eigen::Map< EIGEN_VECTOR, MRPT_MAX_ALIGN_BYTES, Eigen::InnerStride<1>>>

EIGEN_MAP mrpt::math::CVectorDynamic< T >::asEigen ( )

inline

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

Definition at line 284 of file CVectorDynamic.h.

Referenced by mrpt::vision::build_linear_system(), mrpt::math::CVectorDynamic< KFTYPE >::cast(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::evalPWConsistenciesMatrix(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::llt_solve(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::lu_solve(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::matProductOf_Ab(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::matProductOf_Atb(), and mrpt::vision::projectMatchedFeatures().

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◆ asEigen() [2/2]

template<class T>

template<typename EIGEN_VECTOR = Eigen::Matrix<T, -1, 1, 0, -1, 1>, typename EIGEN_MAP = Eigen::Map< const EIGEN_VECTOR, MRPT_MAX_ALIGN_BYTES, Eigen::InnerStride<1>>>

EIGEN_MAP mrpt::math::CVectorDynamic< T >::asEigen ( ) const

inline

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 293 of file CVectorDynamic.h.

◆ assign()

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

inlineinherited

Definition at line 106 of file MatrixVectorBase.h.

◆ asString()

std::string mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::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.

◆ begin() [1/2]

template<class T>

iterator mrpt::math::CVectorDynamic< T >::begin ( )

inline

Definition at line 61 of file CVectorDynamic.h.

Referenced by mrpt::math::averageLogLikelihood(), mrpt::slam::CRangeBearingKFSLAM2D::getCurrentState(), mrpt::slam::CRangeBearingKFSLAM::getCurrentState(), mrpt::gui::CDisplayWindow::plot(), mrpt::nav::CLogFileRecord::serializeFrom(), and mrpt::nav::CLogFileRecord::serializeTo().

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◆ begin() [2/2]

template<class T>

const_iterator mrpt::math::CVectorDynamic< T >::begin ( ) const

inline

Definition at line 63 of file CVectorDynamic.h.

◆ block() [1/3]

auto mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::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.

◆ block() [2/3]

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

inlineinherited

Definition at line 145 of file MatrixVectorBase.h.

◆ block() [3/3]

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

inlineinherited

Definition at line 151 of file MatrixVectorBase.h.

◆ cast()

template<typename T >

template<typename T2 >

CVectorDynamic< T2 > CVectorDynamic::cast ( ) const

Definition at line 19 of file CVectorDynamic.cpp.

◆ cbegin()

template<class T>

const_iterator mrpt::math::CVectorDynamic< T >::cbegin ( ) const

inline

Definition at line 65 of file CVectorDynamic.h.

◆ cend()

template<class T>

const_iterator mrpt::math::CVectorDynamic< T >::cend ( ) const

inline

Definition at line 66 of file CVectorDynamic.h.

◆ coeff()

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

inlineinherited

Definition at line 244 of file MatrixVectorBase.h.

◆ coeffRef()

T & mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::coeffRef	(	int	r,
		int	c
	)

inlineinherited

Definition at line 243 of file MatrixVectorBase.h.

◆ cols()

template<class T>

size_type mrpt::math::CVectorDynamic< T >::cols ( ) const

inline

Number of columns in the matrix (always 1)

Definition at line 138 of file CVectorDynamic.h.

Referenced by TEST().

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◆ Constant() [1/2]

static CVectorDynamic< T > mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::Constant ( const T value )

inlinestaticinherited

Definition at line 89 of file MatrixVectorBase.h.

◆ Constant() [2/2]

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

inlinestaticinherited

Definition at line 99 of file MatrixVectorBase.h.

◆ dot() [1/2]

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

inherited

dot product of this \cdot v

Definition at line 511 of file MatrixVectorBase_impl.h.

Referenced by mrpt::math::mahalanobisDistance2().

◆ dot() [2/2]

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

inherited

Definition at line 524 of file MatrixVectorBase_impl.h.

◆ empty()

template<class T>

bool mrpt::math::CVectorDynamic< T >::empty ( ) const

inline

Definition at line 143 of file CVectorDynamic.h.

Referenced by mrpt::math::averageWrap2Pi(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), and mrpt::math::ransac_detect_2D_lines().

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◆ end() [1/2]

template<class T>

iterator mrpt::math::CVectorDynamic< T >::end ( )

inline

Definition at line 62 of file CVectorDynamic.h.

Referenced by mrpt::math::averageLogLikelihood(), mrpt::slam::CRangeBearingKFSLAM2D::getCurrentState(), mrpt::slam::CRangeBearingKFSLAM::getCurrentState(), and mrpt::gui::CDisplayWindow::plot().

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◆ end() [2/2]

template<class T>

const_iterator mrpt::math::CVectorDynamic< T >::end ( ) const

inline

Definition at line 64 of file CVectorDynamic.h.

◆ fill()

void mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::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.

◆ fromMatlabStringFormat()

bool mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::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.

◆ fromVectorLike()

template<class T>

template<class MAT >

void mrpt::math::CVectorDynamic< T >::fromVectorLike ( const MAT & m )

inline

Definition at line 157 of file CVectorDynamic.h.

Referenced by mrpt::math::CVectorDynamic< KFTYPE >::operator=().

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◆ head()

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

inlineinherited

Definition at line 232 of file MatrixVectorBase.h.

◆ inMatlabFormat()

std::string mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::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.

◆ isSquare()

bool mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::isSquare ( ) const

inlineinherited

returns true if matrix is NxN

Definition at line 257 of file MatrixVectorBase.h.

◆ loadFromTextFile() [1/2]

void mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::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 , CVectorDynamic< T > >::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.

◆ matProductOf_Ab()

void mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::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.

◆ matProductOf_Atb()

void mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::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.

◆ maxCoeff() [1/3]

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

inherited

Definition at line 384 of file MatrixVectorBase_impl.h.

◆ maxCoeff() [3/3]

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

inherited

Definition at line 409 of file MatrixVectorBase_impl.h.

◆ minCoeff() [1/3]

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

inherited

Definition at line 369 of file MatrixVectorBase_impl.h.

◆ minCoeff() [3/3]

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

inherited

Definition at line 398 of file MatrixVectorBase_impl.h.

◆ mvbDerived() [1/2]

CVectorDynamic< T > & mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::mvbDerived ( )

inlineinherited

Definition at line 59 of file MatrixVectorBase.h.

Referenced by mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::dot().

◆ mvbDerived() [2/2]

const CVectorDynamic< T > & mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::mvbDerived ( ) const

inlineinherited

Definition at line 60 of file MatrixVectorBase.h.

◆ norm()

T mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::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.

◆ norm_inf()

T mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::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.

◆ operator!=()

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

inlineinherited

Definition at line 432 of file MatrixVectorBase.h.

◆ operator()() [1/2]

template<class T>

T& mrpt::math::CVectorDynamic< T >::operator()	(	size_t	row,
		size_t	col
	)

inline

Subscript operator to get/set individual elements.

Definition at line 224 of file CVectorDynamic.h.

◆ operator()() [2/2]

template<class T>

const T& mrpt::math::CVectorDynamic< T >::operator()	(	size_t	row,
		size_t	col
	)		const

inline

Subscript operator to get individual elements.

Definition at line 240 of file CVectorDynamic.h.

◆ operator*() [1/4]

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

inlineinherited

Definition at line 214 of file MatrixVectorBase.h.

◆ operator*() [2/4]

auto mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::operator* ( const T s ) const

inlineinherited

Definition at line 219 of file MatrixVectorBase.h.

◆ operator*() [3/4]

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

inherited

Definition at line 438 of file MatrixVectorBase_impl.h.

◆ operator*() [4/4]

CVectorDynamic< T > mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::operator* ( const CVectorDynamic< T > & m2 ) const

inherited

Definition at line 470 of file MatrixVectorBase_impl.h.

◆ operator*=()

void mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::operator*= ( T s )

inherited

Definition at line 432 of file MatrixVectorBase_impl.h.

◆ operator+() [1/2]

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

inlineinherited

Definition at line 188 of file MatrixVectorBase.h.

◆ operator+() [2/2]

CVectorDynamic< T > mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::operator+ ( const CVectorDynamic< T > & m2 ) const

inlineinherited

Definition at line 279 of file MatrixVectorBase.h.

◆ operator+=() [1/3]

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

inlineinherited

Definition at line 194 of file MatrixVectorBase.h.

◆ operator+=() [2/3]

void mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::operator+= ( T s )

inherited

Definition at line 420 of file MatrixVectorBase_impl.h.

◆ operator+=() [3/3]

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

inlineinherited

Definition at line 294 of file MatrixVectorBase.h.

◆ operator-() [1/3]

auto mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::operator- ( ) const

inlineinherited

Definition at line 181 of file MatrixVectorBase.h.

◆ operator-() [2/3]

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

inlineinherited

Definition at line 201 of file MatrixVectorBase.h.

◆ operator-() [3/3]

CVectorDynamic< T > mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::operator- ( const CVectorDynamic< T > & m2 ) const

inlineinherited

Definition at line 309 of file MatrixVectorBase.h.

◆ operator-=() [1/3]

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

inlineinherited

Definition at line 207 of file MatrixVectorBase.h.

◆ operator-=() [2/3]

void mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::operator-= ( T s )

inherited

Definition at line 426 of file MatrixVectorBase_impl.h.

◆ operator-=() [3/3]

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

inlineinherited

Definition at line 324 of file MatrixVectorBase.h.

◆ operator=() [1/3]

template<class T>

template<typename U >

CVectorDynamic& mrpt::math::CVectorDynamic< T >::operator= ( const CMatrixDynamic< U > & m )

inline

Assignment operator from another matrix (possibly of a different type)

Definition at line 169 of file CVectorDynamic.h.

◆ operator=() [2/3]

template<class T>

template<class Derived >

CVectorDynamic& mrpt::math::CVectorDynamic< T >::operator= ( const Eigen::MatrixBase< Derived > & m )

inline

Assignment from an Eigen matrix.

Definition at line 179 of file CVectorDynamic.h.

◆ operator=() [3/3]

template<class T>

template<std::size_t ROWS>

CVectorDynamic& mrpt::math::CVectorDynamic< T >::operator= ( const CMatrixFixed< T, ROWS, 1 > & v )

inline

Assignment from a fixed-size vector.

Definition at line 189 of file CVectorDynamic.h.

◆ operator==()

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

inlineinherited

Definition at line 422 of file MatrixVectorBase.h.

◆ operator[]() [1/2]

template<class T>

T& mrpt::math::CVectorDynamic< T >::operator[] ( size_t ith )

inline

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

Exceptions

std::exception If the object is not a column or row matrix.

Definition at line 258 of file CVectorDynamic.h.

◆ operator[]() [2/2]

template<class T>

const T& mrpt::math::CVectorDynamic< T >::operator[] ( size_t ith ) const

inline

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 269 of file CVectorDynamic.h.

◆ push_back()

template<class T>

void mrpt::math::CVectorDynamic< T >::push_back ( const T & val )

inline

Definition at line 197 of file CVectorDynamic.h.

Referenced by mrpt::obs::detail::cost_func(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::topography::path_from_rtk_gps(), mrpt::apps::CGridMapAlignerApp::run(), and TEST().

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◆ realloc()

template<class T>

void mrpt::math::CVectorDynamic< T >::realloc	(	const size_t	new_len,
		bool	newElementsToZero = `false`
	)

inline

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

Definition at line 72 of file CVectorDynamic.h.

Referenced by mrpt::math::CVectorDynamic< KFTYPE >::CVectorDynamic(), and mrpt::math::CVectorDynamic< KFTYPE >::setSize().

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◆ resize()

template<class T>

void mrpt::math::CVectorDynamic< T >::resize	(	std::size_t	N,
		bool	zeroNewElements = `false`
	)

inline

Definition at line 151 of file CVectorDynamic.h.

Referenced by mrpt::bayes::detail::addNewLandmarks(), mrpt::math::CSparseMatrix::CholeskyDecomp::backsub(), mrpt::obs::detail::cam2vec(), mrpt::math::fft_real(), func_laserSimul_callback(), mrpt::slam::CRangeBearingKFSLAM2D::getCurrentState(), mrpt::slam::CRangeBearingKFSLAM::getCurrentState(), mrpt::maps::CRandomFieldGridMap2D::getMeanAndCov(), mrpt::maps::CRandomFieldGridMap2D::getMeanAndSTD(), mrpt::obs::CSinCosLookUpTableFor2DScans::getSinCosForScan(), mrpt::vision::CFeature::internal_distanceBetweenPolarImages(), mrpt::nav::CReactiveNavigationSystem::loggingGetWSObstaclesAndShape(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::math::CSparseMatrix::matProductOf_Ab(), myFunction(), mrpt::math::operator>>(), mrpt::topography::path_from_rtk_gps(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), mrpt::vision::projectMatchedFeatures(), mrpt::obs::CObservation3DRangeScan::recoverCameraCalibrationParameters(), mrpt::math::CVectorDynamic< KFTYPE >::segmentCopy(), mrpt::nav::CLogFileRecord::serializeFrom(), mrpt::obs::CObservationIMU::serializeFrom(), TEST(), TestLevMarq(), and mrpt::graphs::ScalarFactorGraph::updateEstimation().

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◆ rows()

template<class T>

size_type mrpt::math::CVectorDynamic< T >::rows ( ) const

inline

Number of rows in the vector.

Definition at line 135 of file CVectorDynamic.h.

Referenced by mrpt::math::CVectorDynamic< KFTYPE >::fromVectorLike(), and TEST().

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◆ saveToTextFile()

void mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::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.

◆ segmentCopy() [1/2]

template<class T>

template<int LEN>

CMatrixFixed<Scalar, LEN, 1> mrpt::math::CVectorDynamic< T >::segmentCopy ( int start = 0 ) const

inline

const segmentCopy(): Returns a copy of the given vector segment

Definition at line 205 of file CVectorDynamic.h.

◆ segmentCopy() [2/2]

template<class T>

CVectorDynamic<Scalar> mrpt::math::CVectorDynamic< T >::segmentCopy	(	int	start,
		int	LEN
	)		const

inline

const segmentCopy(): Returns a copy of the given vector segment (non templated version, dynamic length)

Definition at line 214 of file CVectorDynamic.h.

◆ setConstant() [1/3]

void mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::setConstant ( const T value )

inlineinherited

Definition at line 75 of file MatrixVectorBase.h.

◆ setConstant() [2/3]

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

inlineinherited

Definition at line 76 of file MatrixVectorBase.h.

◆ setConstant() [3/3]

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

inlineinherited

Definition at line 81 of file MatrixVectorBase.h.

◆ setSize()

template<class T>

void mrpt::math::CVectorDynamic< T >::setSize	(	size_t	row,
		size_t	col,
		bool	zeroNewElements = `false`
	)

inline

Changes the size of matrix, maintaining the previous contents.

Definition at line 146 of file CVectorDynamic.h.

Referenced by mrpt::math::CVectorDynamic< KFTYPE >::fromVectorLike(), and mrpt::math::CVectorDynamic< KFTYPE >::resize().

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◆ setZero() [1/3]

void mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::setZero ( )

inlineinherited

Definition at line 112 of file MatrixVectorBase.h.

◆ setZero() [2/3]

void mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::setZero	(	size_t	nrows,
		size_t	ncols
	)

inlineinherited

Definition at line 113 of file MatrixVectorBase.h.

◆ setZero() [3/3]

void mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::setZero ( size_t nrows )

inlineinherited

Definition at line 117 of file MatrixVectorBase.h.

◆ size()

template<class T>

size_type mrpt::math::CVectorDynamic< T >::size ( ) const

inline

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

Definition at line 141 of file CVectorDynamic.h.

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◆ sum()

T mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::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 , CVectorDynamic< T > >::sum_abs ( ) const

inherited

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

Definition at line 351 of file MatrixVectorBase_impl.h.

◆ swap()

template<class T>

void mrpt::math::CVectorDynamic< T >::swap ( CVectorDynamic< T > & o )

inline

Definition at line 87 of file CVectorDynamic.h.

◆ tail()

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

inlineinherited

Definition at line 226 of file MatrixVectorBase.h.

◆ transpose() [1/2]

auto mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::transpose ( )

inlineinherited

Definition at line 159 of file MatrixVectorBase.h.

◆ transpose() [2/2]

auto mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::transpose ( ) const

inlineinherited

Definition at line 164 of file MatrixVectorBase.h.

◆ Zero() [1/2]

static CVectorDynamic< T > mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::Zero ( )

inlinestaticinherited

Definition at line 125 of file MatrixVectorBase.h.

Referenced by mrpt::vision::build_linear_system().

◆ Zero() [2/2]

static CVectorDynamic< T > mrpt::math::MatrixVectorBase< T , CVectorDynamic< T > >::Zero	(	size_t	nrows,
		size_t	ncols
	)

inlinestaticinherited

Definition at line 126 of file MatrixVectorBase.h.

Member Data Documentation

◆ ColsAtCompileTime

template<class T>

constexpr int mrpt::math::CVectorDynamic< T >::ColsAtCompileTime = 1

static

Definition at line 52 of file CVectorDynamic.h.

◆ is_mrpt_type

template<class T>

constexpr int mrpt::math::CVectorDynamic< T >::is_mrpt_type = 1

static

Definition at line 53 of file CVectorDynamic.h.

◆ m_data

template<class T>

vec_t mrpt::math::CVectorDynamic< T >::m_data

protected

Definition at line 38 of file CVectorDynamic.h.

◆ RowsAtCompileTime

template<class T>

constexpr int mrpt::math::CVectorDynamic< T >::RowsAtCompileTime = -1

static

Definition at line 51 of file CVectorDynamic.h.

◆ small_size

template<class T>

constexpr size_t mrpt::math::CVectorDynamic< T >::small_size = 16

staticprotected

Definition at line 34 of file CVectorDynamic.h.

Detailed Description

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

Public Member Functions

Protected Types

Protected Attributes

Static Protected Attributes

Matrix type definitions

Iterators interface

Initialization methods

Member Typedef Documentation

◆ const_iterator

◆ const_reference

◆ difference_type

◆ eigen_t

◆ Index

◆ iterator

◆ reference

◆ Scalar

◆ size_type

◆ value_type

◆ vec_t

Constructor & Destructor Documentation

◆ CVectorDynamic() [1/6]

◆ CVectorDynamic() [2/6]

◆ CVectorDynamic() [3/6]

◆ CVectorDynamic() [4/6]

◆ CVectorDynamic() [5/6]

◆ CVectorDynamic() [6/6]

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]

◆ cast()

◆ cbegin()

◆ cend()

◆ coeff()

◆ coeffRef()

◆ cols()

◆ Constant() [1/2]

◆ Constant() [2/2]

◆ dot() [1/2]

◆ dot() [2/2]

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ fill()

◆ fromMatlabStringFormat()

◆ fromVectorLike()

◆ head()

◆ inMatlabFormat()

◆ isSquare()

◆ loadFromTextFile() [1/2]

◆ loadFromTextFile() [2/2]

◆ matProductOf_Ab()

◆ matProductOf_Atb()

◆ maxCoeff() [1/3]

◆ maxCoeff() [2/3]

◆ maxCoeff() [3/3]

◆ minCoeff() [1/3]

◆ minCoeff() [2/3]

◆ minCoeff() [3/3]

◆ mvbDerived() [1/2]

◆ mvbDerived() [2/2]

◆ norm()

◆ norm_inf()

◆ operator!=()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*() [1/4]

◆ operator*() [2/4]

◆ operator*() [3/4]

◆ operator*() [4/4]

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