eigen_plugins.h File Reference

Go to the source code of this file.

Enumerations
MRPT plugin: Types
enum	{ static_size = RowsAtCompileTime * ColsAtCompileTime }

Functions
template<class OtherDerived >
EIGEN_STRONG_INLINE void	extractRow (size_t nRow, Eigen::EigenBase< OtherDerived > &v, size_t startingCol=0) const
	Extract one row from the matrix into a row vector. More...
template<typename T >
void	extractRow (size_t nRow, std::vector< T > &v, size_t startingCol=0) const
template<class VECTOR >
EIGEN_STRONG_INLINE void	extractRowAsCol (size_t nRow, VECTOR &v, size_t startingCol=0) const
	Extract one row from the matrix into a column vector. More...
template<class VECTOR >
EIGEN_STRONG_INLINE void	extractCol (size_t nCol, VECTOR &v, size_t startingRow=0) const
	Extract one column from the matrix into a column vector. More...
template<typename T >
void	extractCol (size_t nCol, std::vector< T > &v, size_t startingRow=0) const
template<class MATRIX >
EIGEN_STRONG_INLINE void	extractMatrix (const size_t firstRow, const size_t firstCol, MATRIX &m) const
template<class MATRIX >
EIGEN_STRONG_INLINE void	extractMatrix (const size_t firstRow, const size_t firstCol, const size_t nRows, const size_t nCols, MATRIX &m) const
template<class MATRIX >
EIGEN_STRONG_INLINE void	extractSubmatrix (const size_t row_first, const size_t row_last, const size_t col_first, const size_t col_last, MATRIX &out) const
	Get a submatrix, given its bounds: first & last column and row (inclusive). More...
template<class MATRIX >
void	extractSubmatrixSymmetricalBlocks (const size_t block_size, const std::vector< size_t > &block_indices, MATRIX &out) const
	Get a submatrix from a square matrix, by collecting the elements M(idxs,idxs), where idxs is a sequence {block_indices(i):block_indices(i)+block_size-1} for all "i" up to the size of block_indices. More...
template<class MATRIX >
void	extractSubmatrixSymmetrical (const std::vector< size_t > &indices, MATRIX &out) const
	Get a submatrix from a square matrix, by collecting the elements M(idxs,idxs), where idxs is the sequence of indices passed as argument. More...
MRPT plugin: Set/get/load/save and other miscelaneous methods
EIGEN_STRONG_INLINE void	fill (const Scalar v)
EIGEN_STRONG_INLINE void	assign (const Scalar v)
EIGEN_STRONG_INLINE void	assign (size_t N, const Scalar v)
EIGEN_STRONG_INLINE size_t	getRowCount () const
	Get number of rows. More...
EIGEN_STRONG_INLINE size_t	getColCount () const
	Get number of columns. More...
EIGEN_STRONG_INLINE void	unit (const size_t nRows, const Scalar diag_vals)
	Make the matrix an identity matrix (the diagonal values can be 1.0 or any other value) More...
EIGEN_STRONG_INLINE void	unit ()
	Make the matrix an identity matrix. More...
EIGEN_STRONG_INLINE void	eye ()
	Make the matrix an identity matrix. More...
EIGEN_STRONG_INLINE void	zeros ()
	Set all elements to zero. More...
EIGEN_STRONG_INLINE void	zeros (const size_t row, const size_t col)
	Resize and set all elements to zero. More...
EIGEN_STRONG_INLINE void	ones (const size_t row, const size_t col)
	Resize matrix and set all elements to one. More...
EIGEN_STRONG_INLINE void	ones ()
	Set all elements to one. More...
EIGEN_STRONG_INLINE Scalar *	get_unsafe_row (size_t row)
	Fast but unsafe method to obtain a pointer to a given row of the matrix (Use only in time critical applications) VERY IMPORTANT WARNING: You must be aware of the memory layout, either Column or Row-major ordering. More...
EIGEN_STRONG_INLINE Scalar	get_unsafe (const size_t row, const size_t col) const
	Read-only access to one element (Use with caution, bounds are not checked!) More...
EIGEN_STRONG_INLINE void	set_unsafe (const size_t row, const size_t col, const Scalar val)
	Sets an element (Use with caution, bounds are not checked!) More...
EIGEN_STRONG_INLINE void	push_back (Scalar val)
	Insert an element at the end of the container (for 1D vectors/arrays) More...
EIGEN_STRONG_INLINE bool	isSquare () const
EIGEN_STRONG_INLINE bool	isSingular (const Scalar absThreshold=0) const
bool	fromMatlabStringFormat (const std::string &s, std::ostream *dump_errors_here=nullptr)
	Read 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 size_t decimal_digits=6) const
	Dump matrix in matlab format. 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
	Save matrix to a text file, compatible with MATLAB text format (see also the methods of matrix classes themselves). More...
void	loadFromTextFile (const std::string &file)
	Load matrix from a text file, compatible with MATLAB text format. More...
void	loadFromTextFile (std::istream &_input_text_stream)
EIGEN_STRONG_INLINE void	multiplyColumnByScalar (size_t c, Scalar s)
EIGEN_STRONG_INLINE void	multiplyRowByScalar (size_t r, Scalar s)
EIGEN_STRONG_INLINE void	swapCols (size_t i1, size_t i2)
EIGEN_STRONG_INLINE void	swapRows (size_t i1, size_t i2)
EIGEN_STRONG_INLINE size_t	countNonZero () const
EIGEN_STRONG_INLINE Scalar	maximum () const
	[VECTORS OR MATRICES] Finds the maximum value More...
EIGEN_STRONG_INLINE Scalar	minimum () const
	[VECTORS OR MATRICES] Finds the minimum value More...
EIGEN_STRONG_INLINE void	minimum_maximum (Scalar &out_min, Scalar &out_max) const
	[VECTORS OR MATRICES] Compute the minimum and maximum of a container at once More...
EIGEN_STRONG_INLINE Scalar	maximum (size_t *maxIndex) const
	[VECTORS ONLY] Finds the maximum value (and the corresponding zero-based index) from a given container. More...
void	find_index_max_value (size_t &u, size_t &v, Scalar &valMax) const
	[VECTORS OR MATRICES] Finds the maximum value (and the corresponding zero-based index) from a given container. More...
EIGEN_STRONG_INLINE Scalar	minimum (size_t *minIndex) const
	[VECTORS ONLY] Finds the minimum value (and the corresponding zero-based index) from a given container. More...
EIGEN_STRONG_INLINE void	minimum_maximum (Scalar &out_min, Scalar &out_max, size_t *minIndex, size_t *maxIndex) const
	[VECTORS ONLY] Compute the minimum and maximum of a container at once More...
EIGEN_STRONG_INLINE Scalar	norm_inf () const
	Compute the norm-infinite of a vector ($f[ ||{v}||_ $f]), ie the maximum absolute value of the elements. More...
EIGEN_STRONG_INLINE Scalar	squareNorm () const
	Compute the square norm of a vector/array/matrix (the Euclidean distance to the origin, taking all the elements as a single vector). More...
EIGEN_STRONG_INLINE Scalar	sumAll () const
template<typename OtherDerived >
EIGEN_STRONG_INLINE void	laplacian (Eigen::MatrixBase< OtherDerived > &ret) const
	Computes the laplacian of this square graph weight matrix. More...
EIGEN_STRONG_INLINE void	setSize (size_t row, size_t col)
	Changes the size of matrix, maintaining its previous content as possible and padding with zeros where applicable. More...
template<class OUTVECT >
void	largestEigenvector (OUTVECT &x, Scalar resolution=Scalar(0.01), size_t maxIterations=6, int *out_Iterations=nullptr, float *out_estimatedResolution=nullptr) const
	Efficiently computes only the biggest eigenvector of the matrix using the Power Method, and returns it in the passed vector "x". More...
MatrixBase< Derived > &	operator^= (const unsigned int pow)
	Combined matrix power and assignment operator. More...
EIGEN_STRONG_INLINE void	scalarPow (const Scalar s)
	Scalar power of all elements to a given power, this is diferent of ^ operator. More...
EIGEN_STRONG_INLINE bool	isDiagonal () const
	Checks for matrix type. More...
EIGEN_STRONG_INLINE Scalar	maximumDiagonal () const
	Finds the maximum value in the diagonal of the matrix. More...
EIGEN_STRONG_INLINE double	mean () const
	Computes the mean of the entire matrix. More...
template<class VEC >
void	meanAndStd (VEC &outMeanVector, VEC &outStdVector, const bool unbiased_variance=true) const
	Computes a row with the mean values of each column in the matrix and the associated vector with the standard deviation of each column. More...
void	meanAndStdAll (double &outMean, double &outStd, const bool unbiased_variance=true) const
	Computes the mean and standard deviation of all the elements in the matrix as a whole. More...
template<typename MAT >
EIGEN_STRONG_INLINE void	insertMatrix (size_t r, size_t c, const MAT &m)
	Insert matrix "m" into this matrix at indices (r,c), that is, (*this)(r,c)=m(0,0) and so on. More...
template<typename MAT >
EIGEN_STRONG_INLINE void	insertMatrixTranspose (size_t r, size_t c, const MAT &m)
template<typename MAT >
EIGEN_STRONG_INLINE void	insertRow (size_t nRow, const MAT &aRow)
template<typename MAT >
EIGEN_STRONG_INLINE void	insertCol (size_t nCol, const MAT &aCol)
template<typename R >
void	insertRow (size_t nRow, const std::vector< R > &aRow)
template<typename R >
void	insertCol (size_t nCol, const std::vector< R > &aCol)
EIGEN_STRONG_INLINE void	removeColumns (const std::vector< size_t > &idxsToRemove)
	Remove columns of the matrix. More...
EIGEN_STRONG_INLINE void	unsafeRemoveColumns (const std::vector< size_t > &idxs)
	Remove columns of the matrix. More...
EIGEN_STRONG_INLINE void	removeRows (const std::vector< size_t > &idxsToRemove)
	Remove rows of the matrix. More...
EIGEN_STRONG_INLINE void	unsafeRemoveRows (const std::vector< size_t > &idxs)
	Remove rows of the matrix. More...
EIGEN_STRONG_INLINE const AdjointReturnType	t () const
	Transpose. More...
EIGEN_STRONG_INLINE PlainObject	inv () const
template<class MATRIX >
EIGEN_STRONG_INLINE void	inv (MATRIX &outMat) const
template<class MATRIX >
EIGEN_STRONG_INLINE void	inv_fast (MATRIX &outMat) const
EIGEN_STRONG_INLINE Scalar	det () const
MRPT plugin: Multiply and extra addition functions
EIGEN_STRONG_INLINE bool	empty () const
template<typename OTHERMATRIX >
EIGEN_STRONG_INLINE void	add_Ac (const OTHERMATRIX &m, const Scalar c)
template<typename OTHERMATRIX >
EIGEN_STRONG_INLINE void	substract_Ac (const OTHERMATRIX &m, const Scalar c)
template<typename OTHERMATRIX >
EIGEN_STRONG_INLINE void	substract_At (const OTHERMATRIX &m)
template<typename OTHERMATRIX >
EIGEN_STRONG_INLINE void	substract_An (const OTHERMATRIX &m, const size_t n)
template<typename OTHERMATRIX >
EIGEN_STRONG_INLINE void	add_AAt (const OTHERMATRIX &A)
template<typename OTHERMATRIX >
EIGEN_STRONG_INLINE void	substract_AAt (const OTHERMATRIX &A)
template<class MATRIX1 , class MATRIX2 >
EIGEN_STRONG_INLINE void	multiply (const MATRIX1 &A, const MATRIX2 &B)
template<class MATRIX1 , class MATRIX2 >
EIGEN_STRONG_INLINE void	multiply_AB (const MATRIX1 &A, const MATRIX2 &B)
template<typename MATRIX1 , typename MATRIX2 >
EIGEN_STRONG_INLINE void	multiply_AtB (const MATRIX1 &A, const MATRIX2 &B)
template<typename OTHERVECTOR1 , typename OTHERVECTOR2 >
EIGEN_STRONG_INLINE void	multiply_Ab (const OTHERVECTOR1 &vIn, OTHERVECTOR2 &vOut, bool accumToOutput=false) const
template<typename OTHERVECTOR1 , typename OTHERVECTOR2 >
EIGEN_STRONG_INLINE void	multiply_Atb (const OTHERVECTOR1 &vIn, OTHERVECTOR2 &vOut, bool accumToOutput=false) const
template<typename MAT_C , typename MAT_R >
EIGEN_STRONG_INLINE void	multiply_HCHt (const MAT_C &C, MAT_R &R, bool accumResultInOutput=false) const
template<typename MAT_C , typename MAT_R >
EIGEN_STRONG_INLINE void	multiply_HtCH (const MAT_C &C, MAT_R &R, bool accumResultInOutput=false) const
template<typename MAT_C >
EIGEN_STRONG_INLINE Scalar	multiply_HCHt_scalar (const MAT_C &C) const
template<typename MAT_C >
EIGEN_STRONG_INLINE Scalar	multiply_HtCH_scalar (const MAT_C &C) const
template<typename MAT_A >
EIGEN_STRONG_INLINE void	multiply_AAt_scalar (const MAT_A &A, typename MAT_A::Scalar f)
template<typename MAT_A >
EIGEN_STRONG_INLINE void	multiply_AtA_scalar (const MAT_A &A, typename MAT_A::Scalar f)
template<class MAT_A , class SKEW_3VECTOR >
void	multiply_A_skew3 (const MAT_A &A, const SKEW_3VECTOR &v)
template<class SKEW_3VECTOR , class MAT_A >
void	multiply_skew3_A (const SKEW_3VECTOR &v, const MAT_A &A)
template<class MAT_A , class MAT_OUT >
EIGEN_STRONG_INLINE void	multiply_subMatrix (const MAT_A &A, MAT_OUT &outResult, const size_t A_cols_offset, const size_t A_rows_offset, const size_t A_col_count) const
	outResult = this * A More...
template<class MAT_A , class MAT_B , class MAT_C >
void	multiply_ABC (const MAT_A &A, const MAT_B &B, const MAT_C &C)
template<class MAT_A , class MAT_B , class MAT_C >
void	multiply_ABCt (const MAT_A &A, const MAT_B &B, const MAT_C &C)
template<class MAT_A , class MAT_B , class MAT_C >
void	multiply_AtBC (const MAT_A &A, const MAT_B &B, const MAT_C &C)
template<class MAT_A , class MAT_B >
EIGEN_STRONG_INLINE void	multiply_ABt (const MAT_A &A, const MAT_B &B)
template<class MAT_A >
EIGEN_STRONG_INLINE void	multiply_AAt (const MAT_A &A)
template<class MAT_A >
EIGEN_STRONG_INLINE void	multiply_AtA (const MAT_A &A)
template<class MAT_A , class MAT_B >
EIGEN_STRONG_INLINE void	multiply_result_is_symmetric (const MAT_A &A, const MAT_B &B)
MRPT plugin: Eigenvalue / Eigenvectors
template<class MATRIX1 , class MATRIX2 >
EIGEN_STRONG_INLINE bool	eigenVectors (MATRIX1 &eVecs, MATRIX2 &eVals) const
	[For square matrices only] Compute the eigenvectors and eigenvalues (sorted), both returned as matrices: eigenvectors are the columns in "eVecs", and eigenvalues in ascending order as the diagonal of "eVals". More...
template<class MATRIX1 , class VECTOR1 >
EIGEN_STRONG_INLINE bool	eigenVectorsVec (MATRIX1 &eVecs, VECTOR1 &eVals) const
	[For square matrices only] Compute the eigenvectors and eigenvalues (sorted), eigenvectors are the columns in "eVecs", and eigenvalues are returned in in ascending order in the vector "eVals". More...
template<class VECTOR >
EIGEN_STRONG_INLINE void	eigenValues (VECTOR &eVals) const
	[For square matrices only] Compute the eigenvectors and eigenvalues (sorted), and return only the eigenvalues in the vector "eVals". More...
template<class MATRIX1 , class MATRIX2 >
EIGEN_STRONG_INLINE void	eigenVectorsSymmetric (MATRIX1 &eVecs, MATRIX2 &eVals) const
	[For symmetric matrices only] Compute the eigenvectors and eigenvalues (in no particular order), both returned as matrices: eigenvectors are the columns, and eigenvalues More...
template<class MATRIX1 , class VECTOR1 >
EIGEN_STRONG_INLINE void	eigenVectorsSymmetricVec (MATRIX1 &eVecs, VECTOR1 &eVals) const
	[For symmetric matrices only] Compute the eigenvectors and eigenvalues (in no particular order), both returned as matrices: eigenvectors are the columns, and eigenvalues More...
MRPT plugin: Linear algebra & decomposition-based methods
template<class MATRIX >
EIGEN_STRONG_INLINE bool	chol (MATRIX &U) const
	Cholesky M=UT * U decomposition for simetric matrix (upper-half of the matrix will be actually ignored) More...
EIGEN_STRONG_INLINE size_t	rank (double threshold=0) const
	Gets the rank of the matrix via the Eigen::ColPivHouseholderQR method. More...
MRPT plugin: Scalar and element-wise extra operators
void	normalize (Scalar valMin, Scalar valMax)
	Scales all elements such as the minimum & maximum values are shifted to the given values. More...
void	adjustRange (Scalar valMin, Scalar valMax)

MRPT plugin: Basic iterators. These iterators are intended for 1D
matrices only, i.e. column or row vectors.
typedef Scalar *	iterator
typedef const Scalar *	const_iterator
EIGEN_STRONG_INLINE iterator	begin ()
EIGEN_STRONG_INLINE iterator	end ()

Typedef Documentation

const_iterator

typedef const Scalar* const_iterator

Definition at line 27 of file eigen_plugins.h.

iterator

typedef Scalar* iterator

Definition at line 26 of file eigen_plugins.h.

Enumeration Type Documentation

anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 17 of file eigen_plugins.h.

Function Documentation

add_AAt()

template<typename OTHERMATRIX >

EIGEN_STRONG_INLINE void add_AAt

(

const OTHERMATRIX &

A

)

this += A + A^T

Definition at line 639 of file eigen_plugins.h.

add_Ac()

template<typename OTHERMATRIX >

EIGEN_STRONG_INLINE void add_Ac	(	const OTHERMATRIX &	m,
		const Scalar	c
	)

Add c (scalar) times A to this matrix: this += A * c

Definition at line 612 of file eigen_plugins.h.

adjustRange()

void adjustRange ( Scalar  valMin, Scalar  valMax  )

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 944 of file eigen_plugins.h.

References normalize().

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assign() [1/2]

EIGEN_STRONG_INLINE void assign

(

const Scalar

v

)

Fill all the elements with a given value

Definition at line 48 of file eigen_plugins.h.

assign() [2/2]

EIGEN_STRONG_INLINE void assign	(	size_t	N,
		const Scalar	v
	)

Resize to N and set all the elements to a given value

Definition at line 50 of file eigen_plugins.h.

begin()

EIGEN_STRONG_INLINE const_iterator begin

(

)

Definition at line 29 of file eigen_plugins.h.

Referenced by mrpt::opengl::CPolyhedron::cantellate(), mrpt::vision::TSequenceFeatureObservations::compressIDs(), mrpt::hmtslam::CRobotPosesGraph::convertIntoSimplemap(), mrpt::vision::CFeatureList::copyListFrom(), mrpt::hmtslam::TArcList::debugDump(), mrpt::vision::TSequenceFeatureObservations::decimateCameraFrames(), mrpt::vision::CFeatureExtraction::detectFeatures(), mrpt::utils::list_searchable< CHMHMapNode::TNodeID >::find(), mrpt::utils::list_searchable< CHMHMapNode::TNodeID >::find_ptr_to(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::findCurrentNumberOfRows(), mrpt::vision::findMultipleChessboardsCorners(), mrpt::vision::CMatchedFeatureList::get_type(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getAsDense(), mrpt::utils::TParameters< double >::getAsString(), mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >::getBinaryBlocksRepresentation(), mrpt::vision::CMatchedFeatureList::getBothFeatureLists(), mrpt::vision::CFeatureList::getByID(), mrpt::vision::CMatchedFeatureList::getByID(), mrpt::math::TPolygon2D::getCenter(), mrpt::math::TPolygon3D::getCenter(), mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::getLargestDistanceFromOrigin(), mrpt::vision::CFeatureList::getMaxID(), mrpt::opengl::CGeneralizedCylinder::getMeshIterators(), mrpt::poses::CPosePDFSOG::getMostLikelyCovarianceAndMean(), mrpt::opengl::COpenGLScene::insert(), mrpt::hmtslam::CRobotPosesGraph::insertIntoMetricMap(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::graphslam::optimize_graph_spa_levmarq(), mrpt::vision::TSequenceFeatureObservations::removeFewObservedFeatures(), mrpt::opengl::CGeneralizedCylinder::render_dl(), mrpt::vision::TSequenceFeatureObservations::saveToTextFile(), mrpt::vision::CFeatureList::saveToTextFile(), mrpt::vision::CMatchedFeatureList::saveToTextFile(), searchForEdge(), mrpt::vision::CMatchedFeatureList::updateMaxID(), mrpt::hmtslam::TArcList::write(), mrpt::hmtslam::CRobotPosesGraph::writeToStream(), mrpt::maps::CBeaconMap::writeToStream(), and mrpt::hmtslam::THypothesisIDSet::writeToStream().

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chol()

template<class MATRIX >

EIGEN_STRONG_INLINE bool chol

(

MATRIX &

U

)

const

Cholesky M=U^T * U decomposition for simetric matrix (upper-half of the matrix will be actually ignored)

Definition at line 906 of file eigen_plugins.h.

countNonZero()

EIGEN_STRONG_INLINE size_t countNonZero

(

)

const

Definition at line 228 of file eigen_plugins.h.

det()

EIGEN_STRONG_INLINE Scalar det

(

)

const

Definition at line 599 of file eigen_plugins.h.

Referenced by mrpt::pbmap::ConsistencyTest::estimatePose(), mrpt::pbmap::ConsistencyTest::estimatePoseWithCovariance(), getAlignment(), mrpt::obs::CActionCollection::getBestMovementEstimation(), mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::getCovarianceEntropy(), and mrpt::pbmap::ConsistencyTest::initPose().

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eigenValues()

template<class VECTOR >

EIGEN_STRONG_INLINE void eigenValues

(

VECTOR &

eVals

)

const

[For square matrices only] Compute the eigenvectors and eigenvalues (sorted), and return only the eigenvalues in the vector "eVals".

Note

Warning: Only the real part of complex eigenvectors and eigenvalues are returned.

See also

eigenVectorsSymmetric, eigenVectorsVec

Definition at line 872 of file eigen_plugins.h.

References eigenVectorsVec().

Referenced by mrpt::graphs::CGraphPartitioner< GRAPH_MATRIX, num_t >::SpectralBisection().

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eigenVectors()

template<class MATRIX1 , class MATRIX2 >

EIGEN_STRONG_INLINE bool eigenVectors	(	MATRIX1 &	eVecs,
		MATRIX2 &	eVals
	)		const

[For square matrices only] Compute the eigenvectors and eigenvalues (sorted), both returned as matrices: eigenvectors are the columns in "eVecs", and eigenvalues in ascending order as the diagonal of "eVals".

Note

Warning: Only the real part of complex eigenvectors and eigenvalues are returned.

See also

eigenVectorsSymmetric, eigenVectorsVec

Returns

false on error

Referenced by mrpt::graphs::CGraphPartitioner< GRAPH_MATRIX, num_t >::SpectralBisection().

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eigenVectorsSymmetric()

template<class MATRIX1 , class MATRIX2 >

EIGEN_STRONG_INLINE void eigenVectorsSymmetric	(	MATRIX1 &	eVecs,
		MATRIX2 &	eVals
	)		const

[For symmetric matrices only] Compute the eigenvectors and eigenvalues (in no particular order), both returned as matrices: eigenvectors are the columns, and eigenvalues

See also

eigenVectors

eigenVectorsSymmetricVec()

template<class MATRIX1 , class VECTOR1 >

EIGEN_STRONG_INLINE void eigenVectorsSymmetricVec	(	MATRIX1 &	eVecs,
		VECTOR1 &	eVals
	)		const

[For symmetric matrices only] Compute the eigenvectors and eigenvalues (in no particular order), both returned as matrices: eigenvectors are the columns, and eigenvalues

See also

eigenVectorsVec

eigenVectorsVec()

template<class MATRIX1 , class VECTOR1 >

EIGEN_STRONG_INLINE bool eigenVectorsVec	(	MATRIX1 &	eVecs,
		VECTOR1 &	eVals
	)		const

[For square matrices only] Compute the eigenvectors and eigenvalues (sorted), eigenvectors are the columns in "eVecs", and eigenvalues are returned in in ascending order in the vector "eVals".

Note

Warning: Only the real part of complex eigenvectors and eigenvalues are returned.

See also

eigenVectorsSymmetric, eigenVectorsVec

Returns

false on error

Referenced by eigenValues().

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empty()

EIGEN_STRONG_INLINE bool empty

(

)

const

Definition at line 605 of file eigen_plugins.h.

References getColCount(), and getRowCount().

Referenced by mrpt::vision::CMatchedFeatureList::get_type(), mrpt::math::TPolygon2D::getBoundingBox(), mrpt::vision::CFeatureList::getMaxID(), mrpt::vision::CMatchedFeatureList::getMaxID(), mrpt::poses::CPose3DPDFSOG::getMostLikelyMode(), mrpt::poses::CPointPDFSOG::getMostLikelyMode(), mrpt::nav::CHolonomicFullEval::TOptions::loadFromConfigFile(), mrpt::hwdrivers::TCaptureOptions_DUO3D::m_camera_ext_params_from_yml(), mrpt::hwdrivers::TCaptureOptions_DUO3D::m_camera_int_params_from_yml(), mrpt::vision::CFeatureList::nearest(), mrpt::slam::CMetricMapBuilderICP::processObservation(), and mrpt::opengl::CAssimpModel::writeToStream().

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end()

EIGEN_STRONG_INLINE iterator end

(

)

Definition at line 30 of file eigen_plugins.h.

extractCol() [1/2]

template<class VECTOR >

EIGEN_STRONG_INLINE void extractCol	(	size_t	nCol,
		VECTOR &	v,
		size_t	startingRow = 0
	)		const

Extract one column from the matrix into a column vector.

Definition at line 978 of file eigen_plugins.h.

extractCol() [2/2]

template<typename T >

void extractCol ( size_t  nCol, std::vector< T > &  v, size_t  startingRow = 0  ) 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 985 of file eigen_plugins.h.

extractMatrix() [1/2]

template<class MATRIX >

EIGEN_STRONG_INLINE void extractMatrix	(	const size_t	firstRow,
		const size_t	firstCol,
		MATRIX &	m
	)		const

Definition at line 994 of file eigen_plugins.h.

extractMatrix() [2/2]

template<class MATRIX >

EIGEN_STRONG_INLINE void extractMatrix	(	const size_t	firstRow,
		const size_t	firstCol,
		const size_t	nRows,
		const size_t	nCols,
		MATRIX &	m
	)		const

Definition at line 1000 of file eigen_plugins.h.

extractRow() [1/2]

template<class OtherDerived >

EIGEN_STRONG_INLINE void extractRow	(	size_t	nRow,
		Eigen::EigenBase< OtherDerived > &	v,
		size_t	startingCol = 0
	)		const

Extract one row from the matrix into a row vector.

Definition at line 953 of file eigen_plugins.h.

extractRow() [2/2]

template<typename T >

void extractRow ( size_t  nRow, std::vector< T > &  v, size_t  startingCol = 0  ) 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 961 of file eigen_plugins.h.

extractRowAsCol()

template<class VECTOR >

EIGEN_STRONG_INLINE void extractRowAsCol	(	size_t	nRow,
		VECTOR &	v,
		size_t	startingCol = 0
	)		const

Extract one row from the matrix into a column vector.

Definition at line 970 of file eigen_plugins.h.

extractSubmatrix()

template<class MATRIX >

EIGEN_STRONG_INLINE void extractSubmatrix	(	const size_t	row_first,
		const size_t	row_last,
		const size_t	col_first,
		const size_t	col_last,
		MATRIX &	out
	)		const

Get a submatrix, given its bounds: first & last column and row (inclusive).

Definition at line 1011 of file eigen_plugins.h.

extractSubmatrixSymmetrical()

template<class MATRIX >

void extractSubmatrixSymmetrical	(	const std::vector< size_t > &	indices,
		MATRIX &	out
	)		const

Get a submatrix from a square matrix, by collecting the elements M(idxs,idxs), where idxs is the sequence of indices passed as argument.

A perfect application of this method is in extracting covariance matrices of a subset of variables from the full covariance matrix.

See also

extractSubmatrix, extractSubmatrixSymmetricalBlocks

Definition at line 1073 of file eigen_plugins.h.

extractSubmatrixSymmetricalBlocks()

template<class MATRIX >

void extractSubmatrixSymmetricalBlocks	(	const size_t	block_size,
		const std::vector< size_t > &	block_indices,
		MATRIX &	out
	)		const

Get a submatrix from a square matrix, by collecting the elements M(idxs,idxs), where idxs is a sequence {block_indices(i):block_indices(i)+block_size-1} for all "i" up to the size of block_indices.

A perfect application of this method is in extracting covariance matrices of a subset of variables from the full covariance matrix.

See also

extractSubmatrix, extractSubmatrixSymmetrical

Definition at line 1030 of file eigen_plugins.h.

eye()

EIGEN_STRONG_INLINE void eye

(

)

Make the matrix an identity matrix.

Definition at line 76 of file eigen_plugins.h.

fill()

EIGEN_STRONG_INLINE void fill

(

const Scalar

v

)

Fill all the elements with a given value

Definition at line 46 of file eigen_plugins.h.

Referenced by mrpt::opengl::gl_utils::glDrawText(), mrpt::maps::CRandomFieldGridMap2D::internal_clear(), and mrpt::maps::CRandomFieldGridMap3D::internal_initialize().

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find_index_max_value()

void find_index_max_value	(	size_t &	u,
		size_t &	v,
		Scalar &	valMax
	)		const

[VECTORS OR MATRICES] Finds the maximum value (and the corresponding zero-based index) from a given container.

Exceptions

std::exception

On an empty input vector

Definition at line 277 of file eigen_plugins.h.

fromMatlabStringFormat()

bool fromMatlabStringFormat	(	const std::string &	s,
		std::ostream *	dump_errors_here = nullptr
	)

Read 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 ' ', commas ',' or tabs ''.

This format is also used for CConfigFile::read_matrix.

This template method can be instantiated for matrices of the types: int, long, unsinged int, unsigned long, float, double, long double

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

get_unsafe()

EIGEN_STRONG_INLINE Scalar & get_unsafe	(	const size_t	row,
		const size_t	col
	)		const

Read-only access to one element (Use with caution, bounds are not checked!)

Reference access to one element (Use with caution, bounds are not checked!)

Definition at line 108 of file eigen_plugins.h.

get_unsafe_row()

EIGEN_STRONG_INLINE const Scalar * get_unsafe_row

(

size_t

row

)

Fast but unsafe method to obtain a pointer to a given row of the matrix (Use only in time critical applications) VERY IMPORTANT WARNING: You must be aware of the memory layout, either Column or Row-major ordering.

Definition at line 97 of file eigen_plugins.h.

getColCount()

EIGEN_STRONG_INLINE size_t getColCount

(

)

const

Get number of columns.

Definition at line 59 of file eigen_plugins.h.

Referenced by mrpt::math::CMatrixTemplateObjects< T >::allocAllObjects(), mrpt::math::CMatrixTemplateObjects< T >::CMatrixTemplateObjects(), empty(), mrpt::math::CMatrixTemplateObjects< T >::freeAllObjects(), mrpt::math::CSparseMatrix::multiply_Ab(), and mrpt::math::CMatrixTemplateObjects< T >::operator=().

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getRowCount()

EIGEN_STRONG_INLINE size_t getRowCount

(

)

const

Get number of rows.

Definition at line 57 of file eigen_plugins.h.

Referenced by mrpt::math::CMatrixTemplateObjects< T >::allocAllObjects(), mrpt::math::CMatrixTemplateObjects< T >::CMatrixTemplateObjects(), empty(), mrpt::math::CMatrixTemplateObjects< T >::freeAllObjects(), mrpt::math::CSparseMatrix::multiply_Ab(), and mrpt::math::CMatrixTemplateObjects< T >::operator=().

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inMatlabFormat()

std::string inMatlabFormat

(

const size_t

decimal_digits = 6

)

const

Dump matrix in matlab format.

This template method can be instantiated for matrices of the types: int, long, unsinged int, unsigned long, float, double, long double

See also

fromMatlabStringFormat

insertCol() [1/2]

template<typename MAT >

EIGEN_STRONG_INLINE void insertCol	(	size_t	nCol,
		const MAT &	aCol
	)

Definition at line 502 of file eigen_plugins.h.

insertCol() [2/2]

template<typename R >

void insertCol	(	size_t	nCol,
		const std::vector< R > &	aCol
	)

Definition at line 516 of file eigen_plugins.h.

insertMatrix()

template<typename MAT >

EIGEN_STRONG_INLINE void insertMatrix	(	size_t	r,
		size_t	c,
		const MAT &	m
	)

Insert matrix "m" into this matrix at indices (r,c), that is, (*this)(r,c)=m(0,0) and so on.

Definition at line 485 of file eigen_plugins.h.

insertMatrixTranspose()

template<typename MAT >

EIGEN_STRONG_INLINE void insertMatrixTranspose	(	size_t	r,
		size_t	c,
		const MAT &	m
	)

Definition at line 491 of file eigen_plugins.h.

insertRow() [1/2]

template<typename MAT >

EIGEN_STRONG_INLINE void insertRow	(	size_t	nRow,
		const MAT &	aRow
	)

Definition at line 497 of file eigen_plugins.h.

insertRow() [2/2]

template<typename R >

void insertRow	(	size_t	nRow,
		const std::vector< R > &	aRow
	)

Definition at line 508 of file eigen_plugins.h.

inv() [1/2]

EIGEN_STRONG_INLINE PlainObject inv

(

)

const

Definition at line 584 of file eigen_plugins.h.

Referenced by mrpt::poses::CPointPDFGaussian::bayesianFusion(), and mrpt::math::leastSquareLinearFit().

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inv() [2/2]

template<class MATRIX >

EIGEN_STRONG_INLINE void inv

(

MATRIX &

outMat

)

const

Definition at line 590 of file eigen_plugins.h.

inv_fast()

template<class MATRIX >

EIGEN_STRONG_INLINE void inv_fast

(

MATRIX &

outMat

)

const

Definition at line 595 of file eigen_plugins.h.

isDiagonal()

EIGEN_STRONG_INLINE bool isDiagonal

(

)

const

Checks for matrix type.

Definition at line 415 of file eigen_plugins.h.

isSingular()

EIGEN_STRONG_INLINE bool isSingular

(

const Scalar

absThreshold = 0

)

const

Definition at line 146 of file eigen_plugins.h.

isSquare()

EIGEN_STRONG_INLINE bool isSquare

(

)

const

Definition at line 145 of file eigen_plugins.h.

laplacian()

template<typename OtherDerived >

EIGEN_STRONG_INLINE void laplacian

(

Eigen::MatrixBase< OtherDerived > &

ret

)

const

Computes the laplacian of this square graph weight matrix.

The laplacian matrix is L = D - W, with D a diagonal matrix with the degree of each node, W the

Definition at line 328 of file eigen_plugins.h.

largestEigenvector()

template<class OUTVECT >

void largestEigenvector	(	OUTVECT &	x,
		Scalar	resolution = Scalar(0.01),
		size_t	maxIterations = 6,
		int *	out_Iterations = nullptr,
		float *	out_estimatedResolution = nullptr
	)		const

Efficiently computes only the biggest eigenvector of the matrix using the Power Method, and returns it in the passed vector "x".

Definition at line 375 of file eigen_plugins.h.

loadFromTextFile() [1/2]

void loadFromTextFile

(

const std::string &

file

)

Load matrix from a text file, compatible with MATLAB text format.

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

See also

saveToTextFile, fromMatlabStringFormat

Referenced by mrpt::obs::CObservation3DRangeScan::load().

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loadFromTextFile() [2/2]

void loadFromTextFile

(

std::istream &

_input_text_stream

)

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

maximum() [1/2]

EIGEN_STRONG_INLINE Scalar maximum

(

)

const

[VECTORS OR MATRICES] Finds the maximum value

Exceptions

std::exception

On an empty input container

Definition at line 236 of file eigen_plugins.h.

Referenced by minimum_maximum().

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maximum() [2/2]

EIGEN_STRONG_INLINE Scalar maximum

(

size_t *

maxIndex

)

const

[VECTORS ONLY] Finds the maximum value (and the corresponding zero-based index) from a given container.

Exceptions

std::exception

On an empty input vector

Definition at line 264 of file eigen_plugins.h.

maximumDiagonal()

EIGEN_STRONG_INLINE Scalar maximumDiagonal

(

)

const

Finds the maximum value in the diagonal of the matrix.

Definition at line 424 of file eigen_plugins.h.

mean()

EIGEN_STRONG_INLINE double mean

(

)

const

Computes the mean of the entire matrix.

See also

meanAndStdAll

Definition at line 431 of file eigen_plugins.h.

Referenced by mrpt::opengl::detail::aux_add3DpointWithEigenVectors(), mrpt::poses::CPosePDFSOG::bayesianFusion(), mrpt::vision::pnp::rpnp::calcampose(), mrpt::poses::CPosePDFSOG::changeCoordinatesReference(), mrpt::poses::CPosePDFSOG::copyFrom(), mrpt::random::CRandomGenerator::drawGaussian1D(), mrpt::random::CRandomGenerator::drawGaussian1DMatrix(), mrpt::random::CRandomGenerator::drawGaussian1DVector(), mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::poses::CPosePDFSOG::evaluateNormalizedPDF(), mrpt::poses::CPosePDFSOG::evaluatePDF(), mrpt::opengl::detail::generalizedEllipsoidPoints< 2 >(), mrpt::opengl::detail::generalizedEllipsoidPoints< 3 >(), mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean(), mrpt::poses::CPointPDFParticles::getCovarianceAndMean(), mrpt::poses::CPose3DPDFSOG::getCovarianceAndMean(), mrpt::poses::CPosePDFParticles::getCovarianceAndMean(), mrpt::poses::CPosePDFSOG::getCovarianceAndMean(), mrpt::vision::getDispersion(), mrpt::poses::CPosePDFSOG::getMean(), mrpt::graphslam::TSlidingWindow::getStdDev(), mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::internal_recursive_split(), mrpt::poses::CPosePDFSOG::inverse(), mrpt::math::MATLAB_plotCovariance2D(), mrpt::random::matrixRandomNormal(), mrpt::poses::CPosePDFSOG::mergeModes(), mrpt::poses::CPosePDFSOG::operator+=(), mrpt::opengl::CSetOfObjects::posePDF2opengl(), mrpt::random::RandomNormal(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), mrpt::maps::CWirelessPowerGridMap2D::readFromStream(), mrpt::poses::CPosePDFSOG::readFromStream(), mrpt::slam::CRangeBearingKFSLAM2D::saveMapAndPath2DRepresentationAsMATLABFile(), mrpt::slam::CRangeBearingKFSLAM::saveMapAndPath2DRepresentationAsMATLABFile(), mrpt::poses::CPosePDFSOG::saveToTextFile(), mrpt::graphs::CGraphPartitioner< GRAPH_MATRIX, num_t >::SpectralBisection(), TEST_F(), mrpt::random::vectorRandomNormal(), and mrpt::poses::CPosePDFSOG::writeToStream().

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meanAndStd()

template<class VEC >

void meanAndStd	(	VEC &	outMeanVector,
		VEC &	outStdVector,
		const bool	unbiased_variance = true
	)		const

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

See also

mean,meanAndStdAll

Exceptions

std::exception

If the matrix/vector is empty.

Parameters

unbiased_variance

Standard deviation is sum(vals-mean)/K, with K=N-1 or N for unbiased_variance=true or false, respectively.

Definition at line 445 of file eigen_plugins.h.

References mrpt::math::square(), and mrpt::math::sum().

Referenced by mrpt::detectors::CFaceDetection::experimental_showMeasurements().

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meanAndStdAll()

void meanAndStdAll	(	double &	outMean,
		double &	outStd,
		const bool	unbiased_variance = true
	)		const

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

See also

mean,meanAndStd

Exceptions

std::exception

If the matrix/vector is empty.

Parameters

unbiased_variance

Standard deviation is sum(vals-mean)/K, with K=N-1 or N for unbiased_variance=true or false, respectively.

Definition at line 471 of file eigen_plugins.h.

References mrpt::math::square(), and mrpt::math::sum().

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minimum() [1/2]

EIGEN_STRONG_INLINE Scalar minimum

(

)

const

[VECTORS OR MATRICES] Finds the minimum value

See also

maximum, minimum_maximum

Exceptions

std::exception

On an empty input container

Definition at line 245 of file eigen_plugins.h.

Referenced by minimum_maximum().

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minimum() [2/2]

EIGEN_STRONG_INLINE Scalar minimum

(

size_t *

minIndex

)

const

[VECTORS ONLY] Finds the minimum value (and the corresponding zero-based index) from a given container.

See also

maximum, minimum_maximum

Exceptions

std::exception

On an empty input vector

Definition at line 291 of file eigen_plugins.h.

minimum_maximum() [1/2]

EIGEN_STRONG_INLINE void minimum_maximum	(	Scalar &	out_min,
		Scalar &	out_max
	)		const

[VECTORS OR MATRICES] Compute the minimum and maximum of a container at once

See also

maximum, minimum

Exceptions

std::exception

On an empty input container

Definition at line 254 of file eigen_plugins.h.

References maximum(), and minimum().

Referenced by normalize().

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minimum_maximum() [2/2]

EIGEN_STRONG_INLINE void minimum_maximum	(	Scalar &	out_min,
		Scalar &	out_max,
		size_t *	minIndex,
		size_t *	maxIndex
	)		const

[VECTORS ONLY] Compute the minimum and maximum of a container at once

See also

maximum, minimum

Exceptions

std::exception

On an empty input vector

Definition at line 303 of file eigen_plugins.h.

References maximum(), and minimum().

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multiply()

template<class MATRIX1 , class MATRIX2 >

EIGEN_STRONG_INLINE void multiply	(	const MATRIX1 &	A,
		const MATRIX2 &	B
	)

Parameters

B	this = A * B

Definition at line 654 of file eigen_plugins.h.

multiply_A_skew3()

template<class MAT_A , class SKEW_3VECTOR >

void multiply_A_skew3	(	const MAT_A &	A,
		const SKEW_3VECTOR &	v
	)

this = A * skew(v), with v being a 3-vector (or 3-array) and skew(v) the skew symmetric matrix of v (see mrpt::math::skew_symmetric3)

Definition at line 759 of file eigen_plugins.h.

References mrpt::math::multiply_A_skew3().

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multiply_AAt()

template<class MAT_A >

EIGEN_STRONG_INLINE void multiply_AAt

(

const MAT_A &

A

)

Parameters

A	this = A * AT

Definition at line 815 of file eigen_plugins.h.

multiply_AAt_scalar()

template<typename MAT_A >

EIGEN_STRONG_INLINE void multiply_AAt_scalar	(	const MAT_A &	A,
		typename MAT_A::Scalar	f
	)

this = C * C^T * f (with a matrix C and a scalar f).

Definition at line 742 of file eigen_plugins.h.

multiply_AB()

template<class MATRIX1 , class MATRIX2 >

EIGEN_STRONG_INLINE void multiply_AB	(	const MATRIX1 &	A,
		const MATRIX2 &	B
	)

Parameters

B	this = A * B

Definition at line 661 of file eigen_plugins.h.

multiply_Ab()

template<typename OTHERVECTOR1 , typename OTHERVECTOR2 >

EIGEN_STRONG_INLINE void multiply_Ab	(	const OTHERVECTOR1 &	vIn,
		OTHERVECTOR2 &	vOut,
		bool	accumToOutput = false
	)		const

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

Definition at line 677 of file eigen_plugins.h.

multiply_ABC()

template<class MAT_A , class MAT_B , class MAT_C >

void multiply_ABC	(	const MAT_A &	A,
		const MAT_B &	B,
		const MAT_C &	C
	)

Parameters

C	this = A*B*C

Definition at line 785 of file eigen_plugins.h.

multiply_ABCt()

template<class MAT_A , class MAT_B , class MAT_C >

void multiply_ABCt	(	const MAT_A &	A,
		const MAT_B &	B,
		const MAT_C &	C
	)

Parameters

C	this = A*B*(CT)

Definition at line 792 of file eigen_plugins.h.

multiply_ABt()

template<class MAT_A , class MAT_B >

EIGEN_STRONG_INLINE void multiply_ABt	(	const MAT_A &	A,
		const MAT_B &	B
	)

Parameters

B	this = A * BT

Definition at line 808 of file eigen_plugins.h.

multiply_AtA()

template<class MAT_A >

EIGEN_STRONG_INLINE void multiply_AtA

(

const MAT_A &

A

)

Parameters

A	this = AT * A

Definition at line 822 of file eigen_plugins.h.

multiply_AtA_scalar()

template<typename MAT_A >

EIGEN_STRONG_INLINE void multiply_AtA_scalar	(	const MAT_A &	A,
		typename MAT_A::Scalar	f
	)

this = C^T * C * f (with a matrix C and a scalar f).

Definition at line 750 of file eigen_plugins.h.

multiply_AtB()

template<typename MATRIX1 , typename MATRIX2 >

EIGEN_STRONG_INLINE void multiply_AtB	(	const MATRIX1 &	A,
		const MATRIX2 &	B
	)

Parameters

B	this=A^t * B

Definition at line 668 of file eigen_plugins.h.

multiply_Atb()

template<typename OTHERVECTOR1 , typename OTHERVECTOR2 >

EIGEN_STRONG_INLINE void multiply_Atb	(	const OTHERVECTOR1 &	vIn,
		OTHERVECTOR2 &	vOut,
		bool	accumToOutput = false
	)		const

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

Definition at line 690 of file eigen_plugins.h.

multiply_AtBC()

template<class MAT_A , class MAT_B , class MAT_C >

void multiply_AtBC	(	const MAT_A &	A,
		const MAT_B &	B,
		const MAT_C &	C
	)

Parameters

C	this = A(T)*B*C

Definition at line 800 of file eigen_plugins.h.

multiply_HCHt()

template<typename MAT_C , typename MAT_R >

EIGEN_STRONG_INLINE void multiply_HCHt	(	const MAT_C &	C,
		MAT_R &	R,
		bool	accumResultInOutput = false
	)		const

< R = this * C * this^T

Definition at line 701 of file eigen_plugins.h.

References R.

multiply_HCHt_scalar()

template<typename MAT_C >

EIGEN_STRONG_INLINE Scalar multiply_HCHt_scalar

(

const MAT_C &

C

)

const

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

Definition at line 726 of file eigen_plugins.h.

multiply_HtCH()

template<typename MAT_C , typename MAT_R >

EIGEN_STRONG_INLINE void multiply_HtCH	(	const MAT_C &	C,
		MAT_R &	R,
		bool	accumResultInOutput = false
	)		const

< R = this^T * C * this

Definition at line 712 of file eigen_plugins.h.

References R.

multiply_HtCH_scalar()

template<typename MAT_C >

EIGEN_STRONG_INLINE Scalar multiply_HtCH_scalar

(

const MAT_C &

C

)

const

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

Definition at line 735 of file eigen_plugins.h.

multiply_result_is_symmetric()

template<class MAT_A , class MAT_B >

EIGEN_STRONG_INLINE void multiply_result_is_symmetric	(	const MAT_A &	A,
		const MAT_B &	B
	)

Parameters

B	this = A * B (result is symmetric)

Definition at line 829 of file eigen_plugins.h.

multiply_skew3_A()

template<class SKEW_3VECTOR , class MAT_A >

void multiply_skew3_A	(	const SKEW_3VECTOR &	v,
		const MAT_A &	A
	)

this = skew(v)*A, with v being a 3-vector (or 3-array) and skew(v) the skew symmetric matrix of v (see mrpt::math::skew_symmetric3)

Definition at line 767 of file eigen_plugins.h.

References mrpt::math::multiply_skew3_A().

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multiply_subMatrix()

template<class MAT_A , class MAT_OUT >

EIGEN_STRONG_INLINE void multiply_subMatrix	(	const MAT_A &	A,
		MAT_OUT &	outResult,
		const size_t	A_cols_offset,
		const size_t	A_rows_offset,
		const size_t	A_col_count
	)		const

outResult = this * A

Definition at line 775 of file eigen_plugins.h.

multiplyColumnByScalar()

EIGEN_STRONG_INLINE void multiplyColumnByScalar	(	size_t	c,
		Scalar	s
	)

Definition at line 210 of file eigen_plugins.h.

multiplyRowByScalar()

EIGEN_STRONG_INLINE void multiplyRowByScalar	(	size_t	r,
		Scalar	s
	)

Definition at line 214 of file eigen_plugins.h.

norm_inf()

EIGEN_STRONG_INLINE Scalar norm_inf

(

)

const

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

Definition at line 312 of file eigen_plugins.h.

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

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normalize()

void normalize	(	Scalar	valMin,
		Scalar	valMax
	)

Scales all elements such as the minimum & maximum values are shifted to the given values.

Definition at line 933 of file eigen_plugins.h.

References minimum_maximum().

Referenced by adjustRange(), and mrpt::topography::ENUToGeocentric().

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ones() [1/2]

EIGEN_STRONG_INLINE void ones	(	const size_t	row,
		const size_t	col
	)

Resize matrix and set all elements to one.

Definition at line 86 of file eigen_plugins.h.

Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureExtraction::extractFeaturesLSD(), and mrpt::vision::CFeatureExtraction::internal_computeBLDLineDescriptors().

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ones() [2/2]

EIGEN_STRONG_INLINE void ones

(

)

Set all elements to one.

Definition at line 91 of file eigen_plugins.h.

operator^=()

MatrixBase<Derived>& operator^=

(

const unsigned int

pow

)

Combined matrix power and assignment operator.

Definition at line 402 of file eigen_plugins.h.

push_back()

EIGEN_STRONG_INLINE void push_back

(

Scalar

val

)

Insert an element at the end of the container (for 1D vectors/arrays)

Definition at line 138 of file eigen_plugins.h.

References val.

Referenced by mrpt::math::CPolygon::AddVertex(), mrpt::vision::findMultipleChessboardsCorners(), mrpt::utils::list_searchable< CHMHMapNode::TNodeID >::insert(), mrpt::vision::TSequenceFeatureObservations::loadFromTextFile(), mrpt::vision::CFeatureList::loadFromTextFile(), and mrpt::hmtslam::TArcList::read().

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rank()

EIGEN_STRONG_INLINE size_t rank

(

double

threshold = 0

)

const

Gets the rank of the matrix via the Eigen::ColPivHouseholderQR method.

Parameters

threshold

If set to >0, it's used as threshold instead of Eigen's default one.

Definition at line 919 of file eigen_plugins.h.

removeColumns()

EIGEN_STRONG_INLINE void removeColumns

(

const std::vector< size_t > &

idxsToRemove

)

Remove columns of the matrix.

Definition at line 525 of file eigen_plugins.h.

References unsafeRemoveColumns().

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removeRows()

EIGEN_STRONG_INLINE void removeRows

(

const std::vector< size_t > &

idxsToRemove

)

Remove rows of the matrix.

Definition at line 552 of file eigen_plugins.h.

References unsafeRemoveRows().

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saveToTextFile()

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

Save matrix to a text file, compatible with MATLAB text format (see also the methods of matrix classes themselves).

Parameters

theMatrix	It can be a CMatrixTemplate or a CMatrixFixedNumeric.
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, CMatrixTemplate::inMatlabFormat, SAVE_MATRIX

scalarPow()

EIGEN_STRONG_INLINE void scalarPow

(

const Scalar

s

)

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

Definition at line 413 of file eigen_plugins.h.

set_unsafe()

EIGEN_STRONG_INLINE void set_unsafe	(	const size_t	row,
		const size_t	col,
		const Scalar	val
	)

Sets an element (Use with caution, bounds are not checked!)

Definition at line 127 of file eigen_plugins.h.

References val.

setSize()

EIGEN_STRONG_INLINE void setSize	(	size_t	row,
		size_t	col
	)

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

WARNING: MRPT's add-on method setSize() pads with zeros, while Eigen's resize() does NOT (new elements are undefined).

Definition at line 347 of file eigen_plugins.h.

Referenced by mrpt::poses::CPointPDFParticles::clear(), mrpt::poses::CPointPDFParticles::CPointPDFParticles(), mrpt::maps::COccupancyGridMap2D::loadFromBitmap(), mrpt::maps::CSimplePointsMap::PLY_import_set_vertex_count(), mrpt::maps::CWeightedPointsMap::PLY_import_set_vertex_count(), mrpt::math::CMatrixB::readFromStream(), mrpt::math::CMatrix::readFromStream(), mrpt::math::CMatrixD::readFromStream(), mrpt::poses::CPointPDFParticles::readFromStream(), mrpt::maps::COccupancyGridMap2D::readFromStream(), mrpt::maps::CRandomFieldGridMap3D::setSize(), and mrpt::maps::CRandomFieldGridMap2D::setSize().

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squareNorm()

EIGEN_STRONG_INLINE Scalar squareNorm

(

)

const

Compute the square 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 319 of file eigen_plugins.h.

substract_AAt()

template<typename OTHERMATRIX >

EIGEN_STRONG_INLINE void substract_AAt

(

const OTHERMATRIX &

A

)

this -= A + A^T

Definition at line 647 of file eigen_plugins.h.

substract_Ac()

template<typename OTHERMATRIX >

EIGEN_STRONG_INLINE void substract_Ac	(	const OTHERMATRIX &	m,
		const Scalar	c
	)

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

Definition at line 618 of file eigen_plugins.h.

substract_An()

template<typename OTHERMATRIX >

EIGEN_STRONG_INLINE void substract_An	(	const OTHERMATRIX &	m,
		const size_t	n
	)

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

Definition at line 632 of file eigen_plugins.h.

substract_At()

template<typename OTHERMATRIX >

EIGEN_STRONG_INLINE void substract_At

(

const OTHERMATRIX &

m

)

Substract A transposed to this matrix: this -= A.adjoint()

Definition at line 625 of file eigen_plugins.h.

sumAll()

EIGEN_STRONG_INLINE Scalar sumAll

(

)

const

Sum all the elements, returning a value of the same type than the container

Definition at line 322 of file eigen_plugins.h.

swapCols()

EIGEN_STRONG_INLINE void swapCols	(	size_t	i1,
		size_t	i2
	)

Definition at line 219 of file eigen_plugins.h.

swapRows()

EIGEN_STRONG_INLINE void swapRows	(	size_t	i1,
		size_t	i2
	)

Definition at line 223 of file eigen_plugins.h.

t()

EIGEN_STRONG_INLINE const AdjointReturnType t

(

)

const

Transpose.

Definition at line 579 of file eigen_plugins.h.

unit() [1/2]

EIGEN_STRONG_INLINE void unit	(	const size_t	nRows,
		const Scalar	diag_vals
	)

Make the matrix an identity matrix (the diagonal values can be 1.0 or any other value)

Definition at line 62 of file eigen_plugins.h.

unit() [2/2]

EIGEN_STRONG_INLINE void unit

(

)

Make the matrix an identity matrix.

Definition at line 74 of file eigen_plugins.h.

unsafeRemoveColumns()

EIGEN_STRONG_INLINE void unsafeRemoveColumns

(

const std::vector< size_t > &

idxs

)

Remove columns of the matrix.

The unsafe version assumes that, the indices are sorted in ascending order.

Definition at line 537 of file eigen_plugins.h.

Referenced by removeColumns().

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unsafeRemoveRows()

EIGEN_STRONG_INLINE void unsafeRemoveRows

(

const std::vector< size_t > &

idxs

)

Remove rows of the matrix.

The unsafe version assumes that, the indices are sorted in ascending order.

Definition at line 564 of file eigen_plugins.h.

Referenced by removeRows().

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zeros() [1/2]

EIGEN_STRONG_INLINE void zeros

(

)

Set all elements to zero.

Definition at line 78 of file eigen_plugins.h.

zeros() [2/2]

EIGEN_STRONG_INLINE void zeros	(	const size_t	row,
		const size_t	col
	)

Resize and set all elements to zero.

Definition at line 80 of file eigen_plugins.h.