Detailed Description
This base provides a set of functions for maths stuff.
mrpt_base_grp
Namespaces | |
| detail | |
| jacobians | |
| A collection of functions to compute jacobians of diverse transformations, etc (some functions are redirections to existing methods elsewhere, so this namespace is actually used with grouping purposes). | |
Classes | |
| class | CArrayDouble |
| A partial specialization of CArrayNumeric for double numbers. More... | |
| class | CArrayFloat |
| A partial specialization of CArrayNumeric for float numbers. More... | |
| class | CArrayInt |
| A partial specialization of CArrayNumeric for int numbers. More... | |
| class | CArrayNumeric |
| CArrayNumeric is an array for numeric types supporting several mathematical operations (actually, just a wrapper on Eigen::Matrix<T,N,1>) More... | |
| class | CArrayUInt |
| A partial specialization of CArrayNumeric for unsigned int numbers. More... | |
| class | CAtan2LookUpTable |
| A look-up-table (LUT) of atan values for any (x,y) value in a square/rectangular grid of predefined resolution. More... | |
| class | CAtan2LookUpTableMultiRes |
| Like CAtan2LookUpTable but with a multiresolution grid for increasingly better accuracy in points nearer to the origin. More... | |
| class | CBinaryRelation |
| This class models a binary relation through the elements of any given set. More... | |
| class | CConstMatrixColumnAccessor |
| A vector-like wrapper for a const Matrix for accessing the elements of a given column with a [] operator. More... | |
| class | CConstMatrixColumnAccessorExtended |
| A vector-like wrapper for a const Matrix for accessing the elements of a given column with a [] operator, with offset and custom spacing. More... | |
| class | CConstMatrixRowAccessor |
| A vector-like wrapper for a const Matrix for accessing the elements of a given row with a [] operator. More... | |
| class | CConstMatrixRowAccessorExtended |
| A vector-like wrapper for a const Matrix for accessing the elements of a given row with a [] operator, with offset and custom spacing. More... | |
| class | CExceptionNotDefPos |
| Used in mrpt::math::CSparseMatrix. More... | |
| class | CHistogram |
| This class provides an easy way of computing histograms for unidimensional real valued variables. More... | |
| class | CLevenbergMarquardtTempl |
| An implementation of the Levenberg-Marquardt algorithm for least-square minimization. More... | |
| class | CMatrix |
| This class is a "CSerializable" wrapper for "CMatrixFloat". More... | |
| class | CMatrixB |
| This class is a "CSerializable" wrapper for "CMatrixBool". More... | |
| class | CMatrixBool |
| Declares a matrix of booleans (non serializable). More... | |
| class | CMatrixColumnAccessor |
| A vector-like wrapper for a Matrix for accessing the elements of a given column with a [] operator. More... | |
| class | CMatrixColumnAccessorExtended |
| A vector-like wrapper for a Matrix for accessing the elements of a given column with a [] operator, with offset and custom spacing. More... | |
| class | CMatrixD |
| This class is a "CSerializable" wrapper for "CMatrixTemplateNumeric<double>". More... | |
| class | CMatrixFixedNumeric |
| A numeric matrix of compile-time fixed size. More... | |
| class | CMatrixRowAccessor |
| A vector-like wrapper for a Matrix for accessing the elements of a given row with a [] operator. More... | |
| class | CMatrixRowAccessorExtended |
| A vector-like wrapper for a Matrix for accessing the elements of a given row with a [] operator, with offset and custom spacing. More... | |
| class | CMatrixTemplate |
| This template class provides the basic functionality for a general 2D any-size, resizable container of numerical or non-numerical elements. More... | |
| class | CMatrixTemplateNumeric |
| A matrix of dynamic size. More... | |
| class | CMatrixTemplateObjects |
| This template class extends the class "CMatrixTemplate" for storing "objects" at each matrix entry. More... | |
| struct | CMatrixTemplateSize |
| Auxiliary class used in CMatrixTemplate:size(), CMatrixTemplate::resize(), CMatrixFixedNumeric::size(), CMatrixFixedNumeric::resize(), to mimic the behavior of STL-containers. More... | |
| class | CMonteCarlo |
| Montecarlo simulation for experiments in 1D. More... | |
| struct | ContainerType |
| ContainerType<T>::element_t exposes the value of any STL or Eigen container. More... | |
| struct | ContainerType< Eigen::EigenBase< Derived > > |
| Specialization for Eigen containers. More... | |
| class | CPolygon |
| A wrapper of a TPolygon2D class, implementing CSerializable. More... | |
| class | CQuaternion |
A quaternion, which can represent a 3D rotation as pair  , with a real part "r" and a 3D vector  , or alternatively, q = r + ix + jy + kz. More... | |
| class | CSparseMatrix |
| A sparse matrix structure, wrapping T. More... | |
| class | CSparseMatrixTemplate |
| A sparse matrix container (with cells of any type), with iterators. More... | |
| class | CSparseSymmetricalMatrix |
| A sparse matrix container for square symmetrical content around the main diagonal. More... | |
| class | CSplineInterpolator1D |
| A (persistent) sequence of (x,y) coordinates, allowing queries of intermediate points through spline interpolation, where possible. More... | |
| class | dynamic_vector |
| Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction. More... | |
| class | FAddPoint |
| class | KDTreeCapable |
A generic adaptor class for providing Nearest Neighbor (NN) lookup via the nanoflann library. More... | |
| struct | LowPassFilter_IIR1 |
| 1-order low-pass IIR filter. More... | |
| struct | MatrixBlockSparseCols |
| A templated column-indexed efficient storage of block-sparse Jacobian or Hessian matrices, together with other arbitrary information. More... | |
| class | ModelSearch |
| Model search implementations: RANSAC and genetic algorithm. More... | |
| class | RANSAC_Template |
| A generic RANSAC implementation with models as matrices. More... | |
| struct | RobustKernel |
| struct | RobustKernel< rkLeastSquares, T > |
| No robust kernel, use standard least squares: rho(r) = r^2. More... | |
| struct | RobustKernel< rkPseudoHuber, T > |
| Pseudo-huber robust kernel: rho(r) = 2 * delta^2 * ( -1+sqrt( 1+ r^2/delta^2 ) ) More... | |
| struct | TLine2D |
2D line without bounds, represented by its equation  . More... | |
| struct | TLine3D |
| 3D line, represented by a base point and a director vector. More... | |
| struct | TObject2D |
| Standard type for storing any lightweight 2D type. More... | |
| struct | TObject3D |
| Standard object for storing any 3D lightweight object. More... | |
| struct | TPlane |
3D Plane, represented by its equation  More... | |
| struct | TPoint2D |
| Lightweight 2D point. More... | |
| struct | TPoint3D |
| Lightweight 3D point. More... | |
| struct | TPoint3Df |
| Lightweight 3D point (float version). More... | |
| struct | TPointXYZfIu8 |
| XYZ point (float) + Intensity(u8) More... | |
| struct | TPointXYZfRGBu8 |
| XYZ point (float) + RGB(u8) More... | |
| struct | TPointXYZIu8 |
| XYZ point (double) + Intensity(u8) More... | |
| struct | TPointXYZRGBu8 |
| XYZ point (double) + RGB(u8) More... | |
| class | TPolygon2D |
| 2D polygon, inheriting from std::vector<TPoint2D>. More... | |
| class | TPolygon3D |
| 3D polygon, inheriting from std::vector<TPoint3D> More... | |
| class | TPolygonWithPlane |
| Slightly heavyweight type to speed-up calculations with polygons in 3D. More... | |
| struct | TPose2D |
| Lightweight 2D pose. More... | |
| struct | TPose3D |
| Lightweight 3D pose (three spatial coordinates, plus three angular coordinates). More... | |
| struct | TPose3DQuat |
| Lightweight 3D pose (three spatial coordinates, plus a quaternion ). More... | |
| struct | TSegment2D |
| 2D segment, consisting of two points. More... | |
| struct | TSegment3D |
| 3D segment, consisting of two points. More... | |
| struct | TTwist2D |
| 2D twist: 2D velocity vector (vx,vy) + planar angular velocity (omega) More... | |
| struct | TTwist3D |
| 3D twist: 3D velocity vector (vx,vy,vz) + angular velocity (wx,wy,wz) More... | |
Typedefs | |
| typedef CLevenbergMarquardtTempl< mrpt::math::CVectorDouble > | CLevenbergMarquardt |
| The default name for the LM class is an instantiation for "double". More... | |
| typedef CMatrixTemplateNumeric< float > | CMatrixFloat |
| Declares a matrix of float numbers (non serializable). More... | |
| typedef CMatrixTemplateNumeric< double > | CMatrixDouble |
| Declares a matrix of double numbers (non serializable). More... | |
| typedef CMatrixTemplateNumeric< unsigned int > | CMatrixUInt |
| Declares a matrix of unsigned ints (non serializable). More... | |
| typedef CMatrixTemplateNumeric< double > | CMatrixLongDouble |
| Declares a matrix of "long doubles" (non serializable), or of "doubles" if the compiler does not support "long double". More... | |
| typedef CQuaternion< double > | CQuaternionDouble |
| A quaternion of data type "double". More... | |
| typedef CQuaternion< float > | CQuaternionFloat |
| A quaternion of data type "float". More... | |
| typedef dynamic_vector< float > | CVectorFloat |
| Column vector, like Eigen::MatrixXf, but automatically initialized to zeros since construction. More... | |
| typedef dynamic_vector< double > | CVectorDouble |
| Column vector, like Eigen::MatrixXd, but automatically initialized to zeros since construction. More... | |
| typedef TPlane | TPlane3D |
| typedef RANSAC_Template< double > | RANSAC |
| The default instance of RANSAC, for double type. More... | |
| typedef float | FFT_TYPE |
| Copyright(C) 1997 Takuya OOURA (email: ooura@mmm.t.u-tokyo.ac.jp). More... | |
Typedefs for common sizes | |
| typedef CMatrixFixedNumeric< double, 2, 2 > | CMatrixDouble22 |
| typedef CMatrixFixedNumeric< double, 2, 3 > | CMatrixDouble23 |
| typedef CMatrixFixedNumeric< double, 3, 2 > | CMatrixDouble32 |
| typedef CMatrixFixedNumeric< double, 3, 3 > | CMatrixDouble33 |
| typedef CMatrixFixedNumeric< double, 4, 4 > | CMatrixDouble44 |
| typedef CMatrixFixedNumeric< double, 6, 6 > | CMatrixDouble66 |
| typedef CMatrixFixedNumeric< double, 7, 7 > | CMatrixDouble77 |
| typedef CMatrixFixedNumeric< double, 1, 3 > | CMatrixDouble13 |
| typedef CMatrixFixedNumeric< double, 3, 1 > | CMatrixDouble31 |
| typedef CMatrixFixedNumeric< double, 1, 2 > | CMatrixDouble12 |
| typedef CMatrixFixedNumeric< double, 2, 1 > | CMatrixDouble21 |
| typedef CMatrixFixedNumeric< double, 6, 1 > | CMatrixDouble61 |
| typedef CMatrixFixedNumeric< double, 1, 6 > | CMatrixDouble16 |
| typedef CMatrixFixedNumeric< double, 7, 1 > | CMatrixDouble71 |
| typedef CMatrixFixedNumeric< double, 1, 7 > | CMatrixDouble17 |
| typedef CMatrixFixedNumeric< double, 5, 1 > | CMatrixDouble51 |
| typedef CMatrixFixedNumeric< double, 1, 5 > | CMatrixDouble15 |
| typedef CMatrixFixedNumeric< double, 4, 1 > | CMatrixDouble41 |
| typedef CMatrixFixedNumeric< float, 2, 2 > | CMatrixFloat22 |
| typedef CMatrixFixedNumeric< float, 2, 3 > | CMatrixFloat23 |
| typedef CMatrixFixedNumeric< float, 3, 2 > | CMatrixFloat32 |
| typedef CMatrixFixedNumeric< float, 3, 3 > | CMatrixFloat33 |
| typedef CMatrixFixedNumeric< float, 4, 4 > | CMatrixFloat44 |
| typedef CMatrixFixedNumeric< float, 6, 6 > | CMatrixFloat66 |
| typedef CMatrixFixedNumeric< float, 7, 7 > | CMatrixFloat77 |
| typedef CMatrixFixedNumeric< float, 1, 3 > | CMatrixFloat13 |
| typedef CMatrixFixedNumeric< float, 3, 1 > | CMatrixFloat31 |
| typedef CMatrixFixedNumeric< float, 1, 2 > | CMatrixFloat12 |
| typedef CMatrixFixedNumeric< float, 2, 1 > | CMatrixFloat21 |
| typedef CMatrixFixedNumeric< float, 6, 1 > | CMatrixFloat61 |
| typedef CMatrixFixedNumeric< float, 1, 6 > | CMatrixFloat16 |
| typedef CMatrixFixedNumeric< float, 7, 1 > | CMatrixFloat71 |
| typedef CMatrixFixedNumeric< float, 1, 7 > | CMatrixFloat17 |
| typedef CMatrixFixedNumeric< float, 5, 1 > | CMatrixFloat51 |
| typedef CMatrixFixedNumeric< float, 1, 5 > | CMatrixFloat15 |
Enumerations | |
| enum | TConstructorFlags_Quaternions { UNINITIALIZED_QUATERNION = 0 } |
| enum | TMatrixTextFileFormat { MATRIX_FORMAT_ENG = 0, MATRIX_FORMAT_FIXED = 1, MATRIX_FORMAT_INT = 2 } |
| enum | TConstructorFlags_Matrices { UNINITIALIZED_MATRIX = 0 } |
| For usage in one of the constructors of CMatrixFixedNumeric or CMatrixTemplate (and derived classes), if it's not required to fill it with zeros at the constructor to save time. More... | |
| enum | TRobustKernelType { rkLeastSquares = 0, rkPseudoHuber } |
| The different types of kernels for usage within a robustified least-squares estimator. More... | |
Functions | |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CMatrix::Ptr &pObj) |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CMatrixD::Ptr &pObj) |
| double | normalPDF (double x, double mu, double std) |
| Evaluates the univariate normal (Gaussian) distribution at a given point "x". More... | |
| template<class VECTORLIKE1 , class VECTORLIKE2 , class MATRIXLIKE > | |
| MATRIXLIKE::Scalar | normalPDFInf (const VECTORLIKE1 &x, const VECTORLIKE2 &mu, const MATRIXLIKE &cov_inv, const bool scaled_pdf=false) |
| Evaluates the multivariate normal (Gaussian) distribution at a given point "x". More... | |
| template<class VECTORLIKE1 , class VECTORLIKE2 , class MATRIXLIKE > | |
| MATRIXLIKE::Scalar | normalPDF (const VECTORLIKE1 &x, const VECTORLIKE2 &mu, const MATRIXLIKE &cov, const bool scaled_pdf=false) |
| Evaluates the multivariate normal (Gaussian) distribution at a given point "x". More... | |
| template<typename VECTORLIKE , typename MATRIXLIKE > | |
| MATRIXLIKE::Scalar | normalPDF (const VECTORLIKE &d, const MATRIXLIKE &cov) |
| Evaluates the multivariate normal (Gaussian) distribution at a given point given its distance vector "d" from the Gaussian mean. More... | |
| template<typename VECTORLIKE1 , typename MATRIXLIKE1 , typename VECTORLIKE2 , typename MATRIXLIKE2 > | |
| double | KLD_Gaussians (const VECTORLIKE1 &mu0, const MATRIXLIKE1 &cov0, const VECTORLIKE2 &mu1, const MATRIXLIKE2 &cov1) |
| Kullback-Leibler divergence (KLD) between two independent multivariate Gaussians. More... | |
| double | normalQuantile (double p) |
| Evaluates the Gaussian distribution quantile for the probability value p=[0,1]. More... | |
| double | normalCDF (double p) |
| Evaluates the Gaussian cumulative density function. More... | |
| double | chi2inv (double P, unsigned int dim=1) |
| The "quantile" of the Chi-Square distribution, for dimension "dim" and probability 0<P<1 (the inverse of chi2CDF) An aproximation from the Wilson-Hilferty transformation is used. More... | |
| double | noncentralChi2CDF (unsigned int degreesOfFreedom, double noncentrality, double arg) |
| double | chi2CDF (unsigned int degreesOfFreedom, double arg) |
| double | chi2PDF (unsigned int degreesOfFreedom, double arg, double accuracy=1e-7) |
| std::pair< double, double > | noncentralChi2PDF_CDF (unsigned int degreesOfFreedom, double noncentrality, double arg, double eps=1e-7) |
| Returns the 'exact' PDF (first) and CDF (second) of a Non-central chi-squared probability distribution, using an iterative method. More... | |
| template<typename CONTAINER > | |
| void | confidenceIntervals (const CONTAINER &data, typename mrpt::math::ContainerType< CONTAINER >::element_t &out_mean, typename mrpt::math::ContainerType< CONTAINER >::element_t &out_lower_conf_interval, typename mrpt::math::ContainerType< CONTAINER >::element_t &out_upper_conf_interval, const double confidenceInterval=0.1, const size_t histogramNumBins=1000) |
| Return the mean and the 10%-90% confidence points (or with any other confidence value) of a set of samples by building the cummulative CDF of all the elements of the container. More... | |
| void | fft_real (CVectorFloat &in_realData, CVectorFloat &out_FFT_Re, CVectorFloat &out_FFT_Im, CVectorFloat &out_FFT_Mag) |
| Computes the FFT of a 2^N-size vector of real numbers, and returns the Re+Im+Magnitude parts. More... | |
| void | dft2_real (const CMatrixFloat &in_data, CMatrixFloat &out_real, CMatrixFloat &out_imag) |
| Compute the 2D Discrete Fourier Transform (DFT) of a real matrix, returning the real and imaginary parts separately. More... | |
| void | idft2_real (const CMatrixFloat &in_real, const CMatrixFloat &in_imag, CMatrixFloat &out_data) |
| Compute the 2D inverse Discrete Fourier Transform (DFT) More... | |
| void | dft2_complex (const CMatrixFloat &in_real, const CMatrixFloat &in_imag, CMatrixFloat &out_real, CMatrixFloat &out_imag) |
| Compute the 2D Discrete Fourier Transform (DFT) of a complex matrix, returning the real and imaginary parts separately. More... | |
| void | idft2_complex (const CMatrixFloat &in_real, const CMatrixFloat &in_imag, CMatrixFloat &out_real, CMatrixFloat &out_imag) |
| Compute the 2D inverse Discrete Fourier Transform (DFT). More... | |
| void | cross_correlation_FFT (const CMatrixFloat &A, const CMatrixFloat &B, CMatrixFloat &out_corr) |
| Correlation of two matrixes using 2D FFT. More... | |
| double | fresnel_sin_integral (double x) noexcept |
| Evaluates the integral from 0 to x of sqrt(2/pi) sin(t^2) dt. More... | |
| double | fresnel_cos_integral (double x) noexcept |
| Evaluates the integral from 0 to x of sqrt(2/pi) cos(t^2) dt. More... | |
| template<class MATRIXLIKE1 , class MATRIXLIKE2 > | |
| void | homogeneousMatrixInverse (const MATRIXLIKE1 &M, MATRIXLIKE2 &out_inverse_M) |
| Efficiently compute the inverse of a 4x4 homogeneous matrix by only transposing the rotation 3x3 part and solving the translation with dot products. More... | |
| template<class IN_ROTMATRIX , class IN_XYZ , class OUT_ROTMATRIX , class OUT_XYZ > | |
| void | homogeneousMatrixInverse (const IN_ROTMATRIX &in_R, const IN_XYZ &in_xyz, OUT_ROTMATRIX &out_R, OUT_XYZ &out_xyz) |
| template<class MATRIXLIKE > | |
| void | homogeneousMatrixInverse (MATRIXLIKE &M) |
| template<class T , class VECTOR > | |
| T | interpolate (const T &x, const VECTOR &ys, const T &x0, const T &x1) |
| Interpolate a data sequence "ys" ranging from "x0" to "x1" (equally spaced), to obtain the approximation of the sequence at the point "x". More... | |
| double | interpolate2points (const double x, const double x0, const double y0, const double x1, const double y1, bool wrap2pi=false) |
| Linear interpolation/extrapolation: evaluates at "x" the line (x0,y0)-(x1,y1). More... | |
| template<typename NUMTYPE , class VECTORLIKE > | |
| NUMTYPE | spline (const NUMTYPE t, const VECTORLIKE &x, const VECTORLIKE &y, bool wrap2pi=false) |
| Interpolates the value of a function in a point "t" given 4 SORTED points where "t" is between the two middle points If wrap2pi is true, output "y" values are wrapped to ]-pi,pi] (It is assumed that input "y" values already are in the correct range). More... | |
| template<typename NUMTYPE , class VECTORLIKE , int NUM_POINTS = Eigen::Dynamic> | |
| NUMTYPE | leastSquareLinearFit (const NUMTYPE t, const VECTORLIKE &x, const VECTORLIKE &y, bool wrap2pi=false) |
| Interpolates or extrapolates using a least-square linear fit of the set of values "x" and "y", evaluated at a single point "t". More... | |
| template<class VECTORLIKE1 , class VECTORLIKE2 , class VECTORLIKE3 , int NUM_POINTS = Eigen::Dynamic> | |
| void | leastSquareLinearFit (const VECTORLIKE1 &ts, VECTORLIKE2 &outs, const VECTORLIKE3 &x, const VECTORLIKE3 &y, bool wrap2pi=false) |
| Interpolates or extrapolates using a least-square linear fit of the set of values "x" and "y", evaluated at a sequence of points "ts" and returned at "outs". More... | |
| std::ostream & | operator<< (std::ostream &o, const TPoint2D &p) |
| std::ostream & | operator<< (std::ostream &o, const TPoint3D &p) |
| std::ostream & | operator<< (std::ostream &o, const TPose2D &p) |
| std::ostream & | operator<< (std::ostream &o, const TPose3D &p) |
| std::ostream & | operator<< (std::ostream &o, const TPose3DQuat &p) |
| TPoint3D | operator- (const TPoint3D &p1) |
| Unary minus operator for 3D points. More... | |
| bool | operator== (const TPoint2D &p1, const TPoint2D &p2) |
| Exact comparison between 2D points. More... | |
| bool | operator!= (const TPoint2D &p1, const TPoint2D &p2) |
| Exact comparison between 2D points. More... | |
| bool | operator== (const TPoint3D &p1, const TPoint3D &p2) |
| Exact comparison between 3D points. More... | |
| bool | operator!= (const TPoint3D &p1, const TPoint3D &p2) |
| Exact comparison between 3D points. More... | |
| bool | operator== (const TPose2D &p1, const TPose2D &p2) |
| Exact comparison between 2D poses, taking possible cycles into account. More... | |
| bool | operator!= (const TPose2D &p1, const TPose2D &p2) |
| Exact comparison between 2D poses, taking possible cycles into account. More... | |
| bool | operator== (const TPose3D &p1, const TPose3D &p2) |
| Exact comparison between 3D poses, taking possible cycles into account. More... | |
| bool | operator!= (const TPose3D &p1, const TPose3D &p2) |
| Exact comparison between 3D poses, taking possible cycles into account. More... | |
| bool | operator== (const TSegment2D &s1, const TSegment2D &s2) |
| bool | operator!= (const TSegment2D &s1, const TSegment2D &s2) |
| bool | operator== (const TSegment3D &s1, const TSegment3D &s2) |
| bool | operator!= (const TSegment3D &s1, const TSegment3D &s2) |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TPoint2D &o) |
| mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TPoint2D &o) |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TPoint3D &o) |
| mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TPoint3D &o) |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TPose2D &o) |
| mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TPose2D &o) |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TPose3D &o) |
| mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TPose3D &o) |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TSegment2D &s) |
| mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TSegment2D &s) |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TLine2D &l) |
| mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TLine2D &l) |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TObject2D &o) |
| mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TObject2D &o) |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TSegment3D &s) |
| mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TSegment3D &s) |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TLine3D &l) |
| mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TLine3D &l) |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TPlane &p) |
| mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TPlane &p) |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TObject3D &o) |
| mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TObject3D &o) |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TTwist2D &o) |
| mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TTwist2D &o) |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TTwist3D &o) |
| mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TTwist3D &o) |
| template<class CONTAINER1 , class CONTAINER2 > | |
| void | cumsum (const CONTAINER1 &in_data, CONTAINER2 &out_cumsum) |
| template<class CONTAINER > | |
| CONTAINER::Scalar | norm (const CONTAINER &v) |
| template<class CONTAINER > | |
| CONTAINER::Scalar | norm_inf (const CONTAINER &v) |
| template<class MAT_A , class SKEW_3VECTOR , class MAT_OUT > | |
| void | multiply_A_skew3 (const MAT_A &A, const SKEW_3VECTOR &v, MAT_OUT &out) |
| Only for vectors/arrays "v" of length3, compute out = A * Skew(v), where Skew(v) is the skew symmetric matric generated from v (see mrpt::math::skew_symmetric3) More... | |
| template<class SKEW_3VECTOR , class MAT_A , class MAT_OUT > | |
| void | multiply_skew3_A (const SKEW_3VECTOR &v, const MAT_A &A, MAT_OUT &out) |
| Only for vectors/arrays "v" of length3, compute out = Skew(v) * A, where Skew(v) is the skew symmetric matric generated from v (see mrpt::math::skew_symmetric3) More... | |
| template<class T > | |
| T | wrapTo2Pi (T a) |
| Modifies the given angle to translate it into the [0,2pi[ range. More... | |
| template<typename MAT > | |
| CMatrixRowAccessor< MAT > | getRowAccessor (MAT &m, size_t rowIdx) |
| template<typename MAT > | |
| CMatrixRowAccessorExtended< MAT > | getRowAccessor (MAT &m, size_t rowIdx, size_t offset, size_t space=1) |
| template<typename MAT > | |
| CConstMatrixRowAccessor< MAT > | getRowAccessor (const MAT &m, size_t rowIdx) |
| template<typename MAT > | |
| CConstMatrixRowAccessorExtended< MAT > | getRowAccessor (const MAT &m, size_t rowIdx, size_t offset, size_t space=1) |
| template<typename MAT > | |
| CMatrixColumnAccessor< MAT > | getColumnAccessor (MAT &m, size_t colIdx) |
| template<typename MAT > | |
| CMatrixColumnAccessorExtended< MAT > | getColumnAccessor (MAT &m, size_t colIdx, size_t offset, size_t space=1) |
| template<typename MAT > | |
| CConstMatrixColumnAccessor< MAT > | getColumnAccessor (const MAT &m, size_t colIdx) |
| template<typename MAT > | |
| CConstMatrixColumnAccessorExtended< MAT > | getColumnAccessor (const MAT &m, size_t colIdx, size_t offset, size_t space=1) |
| template<class VECTORLIKE , class VECTORLIKE2 , class VECTORLIKE3 , class MATRIXLIKE , class USERPARAM > | |
| void | estimateJacobian (const VECTORLIKE &x, const std::function< void(const VECTORLIKE &x, const USERPARAM &y, VECTORLIKE3 &out)> &functor, const VECTORLIKE2 &increments, const USERPARAM &userParam, MATRIXLIKE &out_Jacobian) |
| Estimate the Jacobian of a multi-dimensional function around a point "x", using finite differences of a given size in each input dimension. More... | |
| template<class CONTAINER > | |
| std::vector< double > | histogram (const CONTAINER &v, double limit_min, double limit_max, size_t number_bins, bool do_normalization=false, std::vector< double > *out_bin_centers=nullptr) |
| Computes the normalized or normal histogram of a sequence of numbers given the number of bins and the limits. More... | |
| template<class EIGEN_CONTAINER > | |
| void | resizeLike (EIGEN_CONTAINER &trg, const EIGEN_CONTAINER &src) |
| template<typename T > | |
| void | resizeLike (std::vector< T > &trg, const std::vector< T > &src) |
| template<class CONTAINER1 , class CONTAINER2 , typename VALUE > | |
| void | cumsum_tmpl (const CONTAINER1 &in_data, CONTAINER2 &out_cumsum) |
| Computes the cumulative sum of all the elements, saving the result in another container. More... | |
| template<class CONTAINER > | |
| CONTAINER | cumsum (const CONTAINER &in_data) |
| Computes the cumulative sum of all the elements. More... | |
| template<class CONTAINER > | |
| CONTAINER::Scalar | maximum (const CONTAINER &v) |
| template<class CONTAINER > | |
| CONTAINER::Scalar | minimum (const CONTAINER &v) |
| template<typename T > | |
| T | maximum (const std::vector< T > &v) |
| template<typename T > | |
| T | minimum (const std::vector< T > &v) |
| template<class Derived > | |
| const Eigen::MatrixBase< Derived >::AdjointReturnType | operator~ (const Eigen::MatrixBase< Derived > &m) |
| Transpose operator for matrices. More... | |
| template<class Derived > | |
| Eigen::MatrixBase< Derived >::PlainObject | operator! (const Eigen::MatrixBase< Derived > &m) |
| Unary inversion operator. More... | |
| template<typename MAT_H , typename MAT_C , typename MAT_R > | |
| void | multiply_HCHt (const MAT_H &H, const MAT_C &C, MAT_R &R, bool accumResultInOutput) |
| R = H * C * H^t (with C symmetric) More... | |
| template<typename VECTOR_H , typename MAT_C > | |
| MAT_C::Scalar | multiply_HCHt_scalar (const VECTOR_H &H, const MAT_C &C) |
| r (a scalar) = H * C * H^t (with a vector H and a symmetric matrix C) More... | |
| template<typename MAT_H , typename MAT_C , typename MAT_R > | |
| void | multiply_HtCH (const MAT_H &H, const MAT_C &C, MAT_R &R, bool accumResultInOutput) |
| R = H^t * C * H (with C symmetric) More... | |
| template<class MAT_IN , class VECTOR , class MAT_OUT > | |
| void | meanAndCovMat (const MAT_IN &v, VECTOR &out_mean, MAT_OUT &out_cov) |
| Computes the mean vector and covariance from a list of samples in an NxM matrix, where each row is a sample, so the covariance is MxM. More... | |
| template<class MATRIX > | |
| Eigen::Matrix< typename MATRIX::Scalar, MATRIX::ColsAtCompileTime, MATRIX::ColsAtCompileTime > | cov (const MATRIX &v) |
| Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample, so the covariance is MxM. More... | |
| template<class T > | |
| std::ostream & | operator<< (std::ostream &out, const std::vector< T > &d) |
| A template function for printing out the contents of a std::vector variable. More... | |
| template<class T > | |
| std::ostream & | operator<< (std::ostream &out, std::vector< T > *d) |
| A template function for printing out the contents of a std::vector variable. More... | |
| template<typename T , size_t N> | |
| mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &ostrm, const CArrayNumeric< T, N > &a) |
| Binary dump of a CArrayNumeric<T,N> to a stream. More... | |
| template<typename T , size_t N> | |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &istrm, CArrayNumeric< T, N > &a) |
| Binary read of a CArrayNumeric<T,N> from a stream. More... | |
| int | solve_poly3 (double *x, double a, double b, double c) noexcept |
Solves cubic equation x^3 + a*x^2 + b*x + c = 0. More... | |
| int | solve_poly4 (double *x, double a, double b, double c, double d) noexcept |
Solves quartic equation x^4 + a*x^3 + b*x^2 + c*x + d = 0 by Dekart-Euler method. More... | |
| int | solve_poly5 (double *x, double a, double b, double c, double d, double e) noexcept |
Solves equation x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0. More... | |
| int | solve_poly4Bi (double *x, double b, double d) noexcept |
| Solve equation x^4 + b*x^2 + d = 0. More... | |
| int | solve_poly4De (double *x, double b, double c, double d) noexcept |
| Solve equation x^4 + b*x^2 + c*x + d = 0. More... | |
| int | solve_poly2 (double a, double b, double c, double &r1, double &r2) noexcept |
Solves equation a*x^2 + b*x + c = 0. More... | |
| template<class VECTORLIKE1 , class MATLIKE1 , class USERPARAM , class VECTORLIKE2 , class VECTORLIKE3 , class MATLIKE2 > | |
| void | transform_gaussian_unscented (const VECTORLIKE1 &x_mean, const MATLIKE1 &x_cov, void(*functor)(const VECTORLIKE1 &x, const USERPARAM &fixed_param, VECTORLIKE3 &y), const USERPARAM &fixed_param, VECTORLIKE2 &y_mean, MATLIKE2 &y_cov, const bool *elem_do_wrap2pi=nullptr, const double alpha=1e-3, const double K=0, const double beta=2.0) |
| Scaled unscented transformation (SUT) for estimating the Gaussian distribution of a variable Y=f(X) for an arbitrary function f() provided by the user. More... | |
| template<class VECTORLIKE1 , class MATLIKE1 , class USERPARAM , class VECTORLIKE2 , class VECTORLIKE3 , class MATLIKE2 > | |
| void | transform_gaussian_montecarlo (const VECTORLIKE1 &x_mean, const MATLIKE1 &x_cov, void(*functor)(const VECTORLIKE1 &x, const USERPARAM &fixed_param, VECTORLIKE3 &y), const USERPARAM &fixed_param, VECTORLIKE2 &y_mean, MATLIKE2 &y_cov, const size_t num_samples=1000, typename mrpt::aligned_containers< VECTORLIKE3 >::vector_t *out_samples_y=nullptr) |
| Simple Montecarlo-base estimation of the Gaussian distribution of a variable Y=f(X) for an arbitrary function f() provided by the user. More... | |
| template<class VECTORLIKE1 , class MATLIKE1 , class USERPARAM , class VECTORLIKE2 , class VECTORLIKE3 , class MATLIKE2 > | |
| void | transform_gaussian_linear (const VECTORLIKE1 &x_mean, const MATLIKE1 &x_cov, void(*functor)(const VECTORLIKE1 &x, const USERPARAM &fixed_param, VECTORLIKE3 &y), const USERPARAM &fixed_param, VECTORLIKE2 &y_mean, MATLIKE2 &y_cov, const VECTORLIKE1 &x_increments) |
| First order uncertainty propagation estimator of the Gaussian distribution of a variable Y=f(X) for an arbitrary function f() provided by the user. More... | |
| template<class T1 , class T2 > | |
| bool | approximatelyEqual (T1 a, T1 b, T2 epsilon) |
| Compare 2 floats and determine whether they are equal. More... | |
| template<class T > | |
| bool | approximatelyEqual (T a, T b) |
| Compare 2 floats and determine whether they are equal. More... | |
| template<class T > | |
| T | absDiff (const T &lhs, const T &rhs) |
| Absolute difference between two numbers. More... | |
| bool | loadVector (utils::CFileStream &f, std::vector< int > &d) |
| Loads one row of a text file as a numerical std::vector. More... | |
| bool | loadVector (utils::CFileStream &f, std::vector< double > &d) |
| Loads one row of a text file as a numerical std::vector. More... | |
| void | medianFilter (const std::vector< double > &inV, std::vector< double > &outV, const int &winSize, const int &numberOfSigmas=2) |
| template<typename T , typename VECTOR > | |
| void | linspace (T first, T last, size_t count, VECTOR &out_vector) |
| Generates an equidistant sequence of numbers given the first one, the last one and the desired number of points. More... | |
| template<class T , T STEP> | |
| std::vector< T > | sequenceStdVec (T first, size_t length) |
| Generates a sequence of values [first,first+STEP,first+2*STEP,...]. More... | |
| template<class VEC1 , class VEC2 > | |
| void | normalize (const VEC1 &v, VEC2 &out_v) |
| Normalize a vector, such as its norm is the unity. More... | |
| template<class VECTOR_OF_VECTORS , class VECTORLIKE > | |
| void | extractColumnFromVectorOfVectors (const size_t colIndex, const VECTOR_OF_VECTORS &data, VECTORLIKE &out_column) |
| Extract a column from a vector of vectors, and store it in another vector. More... | |
| uint64_t | factorial64 (unsigned int n) |
| Computes the factorial of an integer number and returns it as a 64-bit integer number. More... | |
| double | factorial (unsigned int n) |
| Computes the factorial of an integer number and returns it as a double value (internally it uses logarithms for avoiding overflow). More... | |
| template<class T > | |
| T | round2up (T val) |
| Round up to the nearest power of two of a given number. More... | |
| std::string | MATLAB_plotCovariance2D (const CMatrixFloat &cov22, const CVectorFloat &mean, const float &stdCount, const std::string &style=std::string("b"), const size_t &nEllipsePoints=30) |
| Generates a string with the MATLAB commands required to plot an confidence interval (ellipse) for a 2D Gaussian ('float' version). More... | |
| std::string | MATLAB_plotCovariance2D (const CMatrixDouble &cov22, const CVectorDouble &mean, const float &stdCount, const std::string &style=std::string("b"), const size_t &nEllipsePoints=30) |
| Generates a string with the MATLAB commands required to plot an confidence interval (ellipse) for a 2D Gaussian ('double' version). More... | |
| template<typename EIGEN_VECTOR , typename At , size_t N> | |
| EIGEN_VECTOR & | loadVector (EIGEN_VECTOR &v, At(&theArray)[N]) |
| Assignment operator for initializing a std::vector from a C array (The vector will be automatically set to the correct size). More... | |
| template<typename T , typename At , size_t N> | |
| std::vector< T > & | loadVector (std::vector< T > &v, At(&theArray)[N]) |
| template<class TRIPLET > | |
| bool | saveEigenSparseTripletsToFile (const std::string &sFile, std::vector< TRIPLET > &tri) |
| Saves to a plain-text file the nonzero entries of a Eigen sparse matrix, represented as a vector of triplets. More... | |
| template<typename Derived > | |
| mxArray * | convertToMatlab (const Eigen::EigenBase< Derived > &mat) |
| Convert vectors, arrays and matrices into Matlab vectors/matrices. More... | |
| template<typename CONTAINER > | |
| mxArray * | convertVectorToMatlab (const CONTAINER &vec) |
| Convert std::vector<> or std::deque<> of numeric types into Matlab vectors. More... | |
| template<class T > | |
| void | wrapTo2PiInPlace (T &a) |
| Modifies the given angle to translate it into the [0,2pi[ range. More... | |
| template<class T > | |
| T | wrapToPi (T a) |
| Modifies the given angle to translate it into the ]-pi,pi] range. More... | |
| template<class T > | |
| void | wrapToPiInPlace (T &a) |
| Modifies the given angle to translate it into the ]-pi,pi] range. More... | |
| template<class VECTOR > | |
| void | unwrap2PiSequence (VECTOR &x) |
| Modify a sequence of angle values such as no consecutive values have a jump larger than PI in absolute value. More... | |
| template<class T > | |
| T | angDistance (T from, T to) |
| Computes the shortest angular increment (or distance) between two planar orientations, such that it is constrained to [-pi,pi] and is correct for any combination of angles (e.g. More... | |
| template<class MATRIXLIKE > | |
| size_t | size (const MATRIXLIKE &m, const int dim) |
| template<class T > | |
| T | square (const T x) |
| Inline function for the square of a number. More... | |
| template<class T > | |
| T | hypot_fast (const T x, const T y) |
| Faster version of std::hypot(), to use when overflow is not an issue and we prefer fast code. More... | |
| template<class T > | |
| void | removeUnusedVertices (T &poly) |
| template<class T > | |
| void | removeRepVertices (T &poly) |
| double | isLeft (const mrpt::math::TPoint2D &P0, const mrpt::math::TPoint2D &P1, const mrpt::math::TPoint2D &P2) |
| void | four1 (float data[], unsigned long nn, int isign) |
| void | realft (float data[], unsigned long n) |
| void | makewt (int nw, int *ip, FFT_TYPE *w) |
| void | bitrv2 (int n, int *ip, FFT_TYPE *a) |
| Copyright(C) 1997 Takuya OOURA (email: ooura@mmm.t.u-tokyo.ac.jp). More... | |
| void | cftbsub (int n, FFT_TYPE *a, FFT_TYPE *w) |
| void | cftfsub (int n, FFT_TYPE *a, FFT_TYPE *w) |
| void | dctsub (int n, FFT_TYPE *a, int nc, FFT_TYPE *c) |
| void | dstsub (int n, FFT_TYPE *a, int nc, FFT_TYPE *c) |
| void | rftfsub (int n, FFT_TYPE *a, int nc, FFT_TYPE *c) |
| void | rftbsub (int n, FFT_TYPE *a, int nc, FFT_TYPE *c) |
| void | makect (int nc, int *ip, FFT_TYPE *c) |
| Copyright(C) 1997 Takuya OOURA (email: ooura@mmm.t.u-tokyo.ac.jp). More... | |
| void | cdft (int n, int isgn, FFT_TYPE *a, int *ip, FFT_TYPE *w) |
| Copyright(C) 1997 Takuya OOURA (email: ooura@mmm.t.u-tokyo.ac.jp). More... | |
| void | rdft (int n, int isgn, FFT_TYPE *a, int *ip, FFT_TYPE *w) |
| void | rdft2d (int n1, int n2, int isgn, FFT_TYPE **a, FFT_TYPE *t, int *ip, FFT_TYPE *w) |
Copyright(C) 1997 Takuya OOURA (email: ooura@mmm.t.u-tokyo.ac.jp). More... | |
| void | cdft2d (int n1, int n2, int isgn, FFT_TYPE **a, FFT_TYPE *t, int *ip, FFT_TYPE *w) |
Copyright(C) 1997 Takuya OOURA (email: ooura@mmm.t.u-tokyo.ac.jp). More... | |
| template<typename T > | |
| void | ransac3Dplane_fit (const CMatrixTemplateNumeric< T > &allData, const vector_size_t &useIndices, vector< CMatrixTemplateNumeric< T >> &fitModels) |
| template<typename T > | |
| void | ransac3Dplane_distance (const CMatrixTemplateNumeric< T > &allData, const vector< CMatrixTemplateNumeric< T >> &testModels, const T distanceThreshold, unsigned int &out_bestModelIndex, vector_size_t &out_inlierIndices) |
| template<typename T > | |
| bool | ransac3Dplane_degenerate (const CMatrixTemplateNumeric< T > &allData, const mrpt::vector_size_t &useIndices) |
| Return "true" if the selected points are a degenerate (invalid) case. More... | |
Probability density distributions (pdf) distance metrics | |
| template<class VECTORLIKE1 , class VECTORLIKE2 , class MAT > | |
| MAT::Scalar | mahalanobisDistance2 (const VECTORLIKE1 &X, const VECTORLIKE2 &MU, const MAT &COV) |
| Computes the squared mahalanobis distance of a vector X given the mean MU and the covariance inverse COV_inv
. More... | |
| template<class VECTORLIKE1 , class VECTORLIKE2 , class MAT > | |
| VECTORLIKE1::Scalar | mahalanobisDistance (const VECTORLIKE1 &X, const VECTORLIKE2 &MU, const MAT &COV) |
| Computes the mahalanobis distance of a vector X given the mean MU and the covariance inverse COV_inv
. More... | |
| template<class VECTORLIKE , class MAT1 , class MAT2 , class MAT3 > | |
| MAT1::Scalar | mahalanobisDistance2 (const VECTORLIKE &mean_diffs, const MAT1 &COV1, const MAT2 &COV2, const MAT3 &CROSS_COV12) |
| Computes the squared mahalanobis distance between two non-independent Gaussians, given the two covariance matrices and the vector with the difference of their means. More... | |
| template<class VECTORLIKE , class MAT1 , class MAT2 , class MAT3 > | |
| VECTORLIKE::Scalar | mahalanobisDistance (const VECTORLIKE &mean_diffs, const MAT1 &COV1, const MAT2 &COV2, const MAT3 &CROSS_COV12) |
| Computes the mahalanobis distance between two non-independent Gaussians (or independent if CROSS_COV12=nullptr), given the two covariance matrices and the vector with the difference of their means. More... | |
| template<class VECTORLIKE , class MATRIXLIKE > | |
| MATRIXLIKE::Scalar | mahalanobisDistance2 (const VECTORLIKE &delta_mu, const MATRIXLIKE &cov) |
| Computes the squared mahalanobis distance between a point and a Gaussian, given the covariance matrix and the vector with the difference between the mean and the point. More... | |
| template<class VECTORLIKE , class MATRIXLIKE > | |
| MATRIXLIKE::Scalar | mahalanobisDistance (const VECTORLIKE &delta_mu, const MATRIXLIKE &cov) |
| Computes the mahalanobis distance between a point and a Gaussian, given the covariance matrix and the vector with the difference between the mean and the point. More... | |
| template<typename T > | |
| T | productIntegralTwoGaussians (const std::vector< T > &mean_diffs, const CMatrixTemplateNumeric< T > &COV1, const CMatrixTemplateNumeric< T > &COV2) |
| Computes the integral of the product of two Gaussians, with means separated by "mean_diffs" and covariances "COV1" and "COV2". More... | |
| template<typename T , size_t DIM> | |
| T | productIntegralTwoGaussians (const std::vector< T > &mean_diffs, const CMatrixFixedNumeric< T, DIM, DIM > &COV1, const CMatrixFixedNumeric< T, DIM, DIM > &COV2) |
| Computes the integral of the product of two Gaussians, with means separated by "mean_diffs" and covariances "COV1" and "COV2". More... | |
| template<typename T , class VECLIKE , class MATLIKE1 , class MATLIKE2 > | |
| void | productIntegralAndMahalanobisTwoGaussians (const VECLIKE &mean_diffs, const MATLIKE1 &COV1, const MATLIKE2 &COV2, T &maha2_out, T &intprod_out, const MATLIKE1 *CROSS_COV12=nullptr) |
| Computes both, the integral of the product of two Gaussians and their square Mahalanobis distance. More... | |
| template<typename T , class VECLIKE , class MATRIXLIKE > | |
| void | mahalanobisDistance2AndLogPDF (const VECLIKE &diff_mean, const MATRIXLIKE &cov, T &maha2_out, T &log_pdf_out) |
| Computes both, the logarithm of the PDF and the square Mahalanobis distance between a point (given by its difference wrt the mean) and a Gaussian. More... | |
| template<typename T , class VECLIKE , class MATRIXLIKE > | |
| void | mahalanobisDistance2AndPDF (const VECLIKE &diff_mean, const MATRIXLIKE &cov, T &maha2_out, T &pdf_out) |
| Computes both, the PDF and the square Mahalanobis distance between a point (given by its difference wrt the mean) and a Gaussian. More... | |
| template<class VECTOR_OF_VECTORS , class MATRIXLIKE , class VECTORLIKE , class VECTORLIKE2 , class VECTORLIKE3 > | |
| void | covariancesAndMeanWeighted (const VECTOR_OF_VECTORS &elements, MATRIXLIKE &covariances, VECTORLIKE &means, const VECTORLIKE2 *weights_mean, const VECTORLIKE3 *weights_cov, const bool *elem_do_wrap2pi=nullptr) |
| Computes covariances and mean of any vector of containers, given optional weights for the different samples. More... | |
| template<class VECTOR_OF_VECTORS , class MATRIXLIKE , class VECTORLIKE > | |
| void | covariancesAndMean (const VECTOR_OF_VECTORS &elements, MATRIXLIKE &covariances, VECTORLIKE &means, const bool *elem_do_wrap2pi=nullptr) |
| Computes covariances and mean of any vector of containers. More... | |
| template<class VECTORLIKE1 , class VECTORLIKE2 > | |
| void | weightedHistogram (const VECTORLIKE1 &values, const VECTORLIKE1 &weights, float binWidth, VECTORLIKE2 &out_binCenters, VECTORLIKE2 &out_binValues) |
| Computes the weighted histogram for a vector of values and their corresponding weights. More... | |
| template<class VECTORLIKE1 , class VECTORLIKE2 > | |
| void | weightedHistogramLog (const VECTORLIKE1 &values, const VECTORLIKE1 &log_weights, float binWidth, VECTORLIKE2 &out_binCenters, VECTORLIKE2 &out_binValues) |
| Computes the weighted histogram for a vector of values and their corresponding log-weights. More... | |
| double | averageLogLikelihood (const CVectorDouble &logLikelihoods) |
| A numerically-stable method to compute average likelihood values with strongly different ranges (unweighted likelihoods: compute the arithmetic mean). More... | |
| double | averageWrap2Pi (const CVectorDouble &angles) |
Computes the average of a sequence of angles in radians taking into account the correct wrapping in the range ![$ ]-\pi,\pi [ $](form_24.png) , for example, the mean of (2,-2) is  , not 0. More... | |
| double | averageLogLikelihood (const CVectorDouble &logWeights, const CVectorDouble &logLikelihoods) |
| A numerically-stable method to average likelihood values with strongly different ranges (weighted likelihoods). More... | |
Simple intersection operations, relying basically on geometrical | |
operations. | |
| bool | intersect (const TSegment3D &s1, const TSegment3D &s2, TObject3D &obj) |
| Gets the intersection between two 3D segments. More... | |
| bool | intersect (const TSegment3D &s1, const TPlane &p2, TObject3D &obj) |
| Gets the intersection between a 3D segment and a plane. More... | |
| bool | intersect (const TSegment3D &s1, const TLine3D &r2, TObject3D &obj) |
| Gets the intersection between a 3D segment and a 3D line. More... | |
| bool | intersect (const TPlane &p1, const TSegment3D &s2, TObject3D &obj) |
| Gets the intersection between a plane and a 3D segment. More... | |
| bool | intersect (const TPlane &p1, const TPlane &p2, TObject3D &obj) |
| Gets the intersection between two planes. More... | |
| bool | intersect (const TPlane &p1, const TLine3D &p2, TObject3D &obj) |
| Gets the intersection between a plane and a 3D line. More... | |
| bool | intersect (const TLine3D &r1, const TSegment3D &s2, TObject3D &obj) |
| Gets the intersection between a 3D line and a 3D segment. More... | |
| bool | intersect (const TLine3D &r1, const TPlane &p2, TObject3D &obj) |
| Gets the intersection between a 3D line and a plane. More... | |
| bool | intersect (const TLine3D &r1, const TLine3D &r2, TObject3D &obj) |
| Gets the intersection between two 3D lines. More... | |
| bool | intersect (const TLine2D &r1, const TLine2D &r2, TObject2D &obj) |
| Gets the intersection between two 2D lines. More... | |
| bool | intersect (const TLine2D &r1, const TSegment2D &s2, TObject2D &obj) |
| Gets the intersection between a 2D line and a 2D segment. More... | |
| bool | intersect (const TSegment2D &s1, const TLine2D &r2, TObject2D &obj) |
| Gets the intersection between a 2D line and a 2D segment. More... | |
| bool | intersect (const TSegment2D &s1, const TSegment2D &s2, TObject2D &obj) |
| Gets the intersection between two 2D segments. More... | |
Angle retrieval methods. Methods which use TSegments will | |
automatically use TLines' implicit constructors. | |
| double | getAngle (const TPlane &p1, const TPlane &p2) |
| Computes the angle between two planes. More... | |
| double | getAngle (const TPlane &p1, const TLine3D &r2) |
| Computes the angle between a plane and a 3D line or segment (implicit constructor will be used if passing a segment instead of a line). More... | |
| double | getAngle (const TLine3D &r1, const TPlane &p2) |
| Computes the angle between a 3D line or segment and a plane (implicit constructor will be used if passing a segment instead of a line). More... | |
| double | getAngle (const TLine3D &r1, const TLine3D &r2) |
| Computes the angle between two 3D lines or segments (implicit constructor will be used if passing a segment instead of a line). More... | |
| double | getAngle (const TLine2D &r1, const TLine2D &r2) |
| Computes the angle between two 2D lines or segments (implicit constructor will be used if passing a segment instead of a line). More... | |
Creation of lines from poses. | |
| void | createFromPoseX (const mrpt::poses::CPose3D &p, TLine3D &r) |
| Gets a 3D line corresponding to the X axis in a given pose. More... | |
| void | createFromPoseY (const mrpt::poses::CPose3D &p, TLine3D &r) |
| Gets a 3D line corresponding to the Y axis in a given pose. More... | |
| void | createFromPoseZ (const mrpt::poses::CPose3D &p, TLine3D &r) |
| Gets a 3D line corresponding to the Z axis in a given pose. More... | |
| void | createFromPoseAndVector (const mrpt::poses::CPose3D &p, const double(&vector)[3], TLine3D &r) |
| Gets a 3D line corresponding to any arbitrary vector, in the base given by the pose. More... | |
| void | createFromPoseX (const TPose2D &p, TLine2D &r) |
| Gets a 2D line corresponding to the X axis in a given pose. More... | |
| void | createFromPoseY (const TPose2D &p, TLine2D &r) |
| Gets a 2D line corresponding to the Y axis in a given pose. More... | |
| void | createFromPoseAndVector (const TPose2D &p, const double(&vector)[2], TLine2D &r) |
| Gets a 2D line corresponding to any arbitrary vector, in the base given the given pose. More... | |
Other line or plane related methods. | |
| bool | conformAPlane (const std::vector< TPoint3D > &points) |
| Checks whether this polygon or set of points acceptably fits a plane. More... | |
| bool | conformAPlane (const std::vector< TPoint3D > &points, TPlane &p) |
| Checks whether this polygon or set of points acceptably fits a plane, and if it's the case returns it in the second argument. More... | |
| bool | areAligned (const std::vector< TPoint2D > &points) |
| Checks whether this set of points acceptably fits a 2D line. More... | |
| bool | areAligned (const std::vector< TPoint2D > &points, TLine2D &r) |
| Checks whether this set of points acceptably fits a 2D line, and if it's the case returns it in the second argument. More... | |
| bool | areAligned (const std::vector< TPoint3D > &points) |
| Checks whether this set of points acceptably fits a 3D line. More... | |
| bool | areAligned (const std::vector< TPoint3D > &points, TLine3D &r) |
| Checks whether this set of points acceptably fits a 3D line, and if it's the case returns it in the second argument. More... | |
Projections | |
| void | project3D (const TPoint3D &point, const mrpt::poses::CPose3D &newXYpose, TPoint3D &newPoint) |
| Uses the given pose 3D to project a point into a new base. More... | |
| void | project3D (const TSegment3D &segment, const mrpt::poses::CPose3D &newXYpose, TSegment3D &newSegment) |
| Uses the given pose 3D to project a segment into a new base. More... | |
| void | project3D (const TLine3D &line, const mrpt::poses::CPose3D &newXYpose, TLine3D &newLine) |
| Uses the given pose 3D to project a line into a new base. More... | |
| void | project3D (const TPlane &plane, const mrpt::poses::CPose3D &newXYpose, TPlane &newPlane) |
| Uses the given pose 3D to project a plane into a new base. More... | |
| void | project3D (const TPolygon3D &polygon, const mrpt::poses::CPose3D &newXYpose, TPolygon3D &newPolygon) |
| Uses the given pose 3D to project a polygon into a new base. More... | |
| void | project3D (const TObject3D &object, const mrpt::poses::CPose3D &newXYPose, TObject3D &newObject) |
| Uses the given pose 3D to project any 3D object into a new base. More... | |
| template<class T > | |
| void | project3D (const T &obj, const TPlane &newXYPlane, T &newObj) |
| Projects any 3D object into the plane's base, using its inverse pose. More... | |
| template<class T > | |
| void | project3D (const T &obj, const TPlane &newXYPlane, const TPoint3D &newOrigin, T &newObj) |
| Projects any 3D object into the plane's base, using its inverse pose and forcing the position of the new coordinates origin. More... | |
| template<class T > | |
| void | project3D (const std::vector< T > &objs, const mrpt::poses::CPose3D &newXYpose, std::vector< T > &newObjs) |
| Projects a set of 3D objects into the plane's base. More... | |
| void | project2D (const TPoint2D &point, const mrpt::poses::CPose2D &newXpose, TPoint2D &newPoint) |
| Uses the given pose 2D to project a point into a new base. More... | |
| void | project2D (const TSegment2D &segment, const mrpt::poses::CPose2D &newXpose, TSegment2D &newSegment) |
| Uses the given pose 2D to project a segment into a new base. More... | |
| void | project2D (const TLine2D &line, const mrpt::poses::CPose2D &newXpose, TLine2D &newLine) |
| Uses the given pose 2D to project a line into a new base. More... | |
| void | project2D (const TPolygon2D &polygon, const mrpt::poses::CPose2D &newXpose, TPolygon2D &newPolygon) |
| Uses the given pose 2D to project a polygon into a new base. More... | |
| void | project2D (const TObject2D &object, const mrpt::poses::CPose2D &newXpose, TObject2D &newObject) |
| Uses the given pose 2D to project any 2D object into a new base. More... | |
| template<class T , class CPOSE2D > | |
| void | project2D (const T &obj, const TLine2D &newXLine, T &newObj) |
| Projects any 2D object into the line's base, using its inverse pose. More... | |
| template<class T , class CPOSE2D > | |
| void | project2D (const T &obj, const TLine2D &newXLine, const TPoint2D &newOrigin, T &newObj) |
| Projects any 2D object into the line's base, using its inverse pose and forcing the position of the new coordinate origin. More... | |
| template<class T > | |
| void | project2D (const std::vector< T > &objs, const mrpt::poses::CPose2D &newXpose, std::vector< T > &newObjs) |
| Projects a set of 2D objects into the line's base. More... | |
Polygon intersections. These operations rely more on spatial reasoning | |
than in raw numerical operations. | |
| bool | intersect (const TPolygon2D &p1, const TSegment2D &s2, TObject2D &obj) |
| Gets the intersection between a 2D polygon and a 2D segment. More... | |
| bool | intersect (const TPolygon2D &p1, const TLine2D &r2, TObject2D &obj) |
| Gets the intersection between a 2D polygon and a 2D line. More... | |
| bool | intersect (const TPolygon2D &p1, const TPolygon2D &p2, TObject2D &obj) |
| Gets the intersection between two 2D polygons. More... | |
| bool | intersect (const TSegment2D &s1, const TPolygon2D &p2, TObject2D &obj) |
| Gets the intersection between a 2D segment and a 2D polygon. More... | |
| bool | intersect (const TLine2D &r1, const TPolygon2D &p2, TObject2D &obj) |
| Gets the intersection between a 2D line and a 2D polygon. More... | |
| bool | intersect (const TPolygon3D &p1, const TSegment3D &s2, TObject3D &obj) |
| Gets the intersection between a 3D polygon and a 3D segment. More... | |
| bool | intersect (const TPolygon3D &p1, const TLine3D &r2, TObject3D &obj) |
| Gets the intersection between a 3D polygon and a 3D line. More... | |
| bool | intersect (const TPolygon3D &p1, const TPlane &p2, TObject3D &obj) |
| Gets the intersection between a 3D polygon and a plane. More... | |
| bool | intersect (const TPolygon3D &p1, const TPolygon3D &p2, TObject3D &obj) |
| Gets the intersection between two 3D polygons. More... | |
| bool | intersect (const TSegment3D &s1, const TPolygon3D &p2, TObject3D &obj) |
| Gets the intersection between a 3D segment and a 3D polygon. More... | |
| bool | intersect (const TLine3D &r1, const TPolygon3D &p2, TObject3D &obj) |
| Gets the intersection between a 3D line and a 3D polygon. More... | |
| bool | intersect (const TPlane &p1, const TPolygon3D &p2, TObject3D &obj) |
| Gets the intersection between a plane and a 3D polygon. More... | |
| size_t | intersect (const std::vector< TPolygon3D > &v1, const std::vector< TPolygon3D > &v2, CSparseMatrixTemplate< TObject3D > &objs) |
| Gets the intersection between two sets of 3D polygons. More... | |
| size_t | intersect (const std::vector< TPolygon3D > &v1, const std::vector< TPolygon3D > &v2, std::vector< TObject3D > &objs) |
| Gets the intersection between two sets of 3D polygons. More... | |
Other intersections | |
| template<class T , class U , class O > | |
| size_t | intersect (const std::vector< T > &v1, const std::vector< U > &v2, CSparseMatrixTemplate< O > &objs) |
| Gets the intersection between vectors of geometric objects and returns it in a sparse matrix of either TObject2D or TObject3D. More... | |
| template<class T , class U , class O > | |
| size_t | intersect (const std::vector< T > &v1, const std::vector< U > &v2, std::vector< O > objs) |
| Gets the intersection between vectors of geometric objects and returns it in a vector of either TObject2D or TObject3D. More... | |
| bool | intersect (const TObject2D &o1, const TObject2D &o2, TObject2D &obj) |
| Gets the intersection between any pair of 2D objects. More... | |
| bool | intersect (const TObject3D &o1, const TObject3D &o2, TObject3D &obj) |
| Gets the intersection between any pair of 3D objects. More... | |
Distances | |
| double | distance (const TPoint2D &p1, const TPoint2D &p2) |
| Gets the distance between two points in a 2D space. More... | |
| double | distance (const TPoint3D &p1, const TPoint3D &p2) |
| Gets the distance between two points in a 3D space. More... | |
| double | distance (const TLine2D &r1, const TLine2D &r2) |
| Gets the distance between two lines in a 2D space. More... | |
| double | distance (const TLine3D &r1, const TLine3D &r2) |
| Gets the distance between two lines in a 3D space. More... | |
| double | distance (const TPlane &p1, const TPlane &p2) |
| Gets the distance between two planes. More... | |
| double | distance (const TPolygon2D &p1, const TPolygon2D &p2) |
| Gets the distance between two polygons in a 2D space. More... | |
| double | distance (const TPolygon2D &p1, const TSegment2D &s2) |
| Gets the distance between a polygon and a segment in a 2D space. More... | |
| double | distance (const TSegment2D &s1, const TPolygon2D &p2) |
| Gets the distance between a segment and a polygon in a 2D space. More... | |
| double | distance (const TPolygon2D &p1, const TLine2D &l2) |
| Gets the distance between a polygon and a line in a 2D space. More... | |
| double | distance (const TLine2D &l1, const TPolygon2D &p2) |
| double | distance (const TPolygon3D &p1, const TPolygon3D &p2) |
| Gets the distance between two polygons in a 3D space. More... | |
| double | distance (const TPolygon3D &p1, const TSegment3D &s2) |
| Gets the distance between a polygon and a segment in a 3D space. More... | |
| double | distance (const TSegment3D &s1, const TPolygon3D &p2) |
| Gets the distance between a segment and a polygon in a 3D space. More... | |
| double | distance (const TPolygon3D &p1, const TLine3D &l2) |
| Gets the distance between a polygon and a line in a 3D space. More... | |
| double | distance (const TLine3D &l1, const TPolygon3D &p2) |
| Gets the distance between a line and a polygon in a 3D space. More... | |
| double | distance (const TPolygon3D &po, const TPlane &pl) |
| Gets the distance between a polygon and a plane. More... | |
| double | distance (const TPlane &pl, const TPolygon3D &po) |
| Gets the distance between a plane and a polygon. More... | |
Bound checkers | |
| void | getRectangleBounds (const std::vector< TPoint2D > &poly, TPoint2D &pMin, TPoint2D &pMax) |
| Gets the rectangular bounds of a 2D polygon or set of 2D points. More... | |
| void | getPrismBounds (const std::vector< TPoint3D > &poly, TPoint3D &pMin, TPoint3D &pMax) |
| Gets the prism bounds of a 3D polygon or set of 3D points. More... | |
Creation of planes from poses | |
| void | createPlaneFromPoseXY (const mrpt::poses::CPose3D &pose, TPlane &plane) |
| Given a pose, creates a plane orthogonal to its Z vector. More... | |
| void | createPlaneFromPoseXZ (const mrpt::poses::CPose3D &pose, TPlane &plane) |
| Given a pose, creates a plane orthogonal to its Y vector. More... | |
| void | createPlaneFromPoseYZ (const mrpt::poses::CPose3D &pose, TPlane &plane) |
| Given a pose, creates a plane orthogonal to its X vector. More... | |
| void | createPlaneFromPoseAndNormal (const mrpt::poses::CPose3D &pose, const double(&normal)[3], TPlane &plane) |
| Given a pose and any vector, creates a plane orthogonal to that vector in the pose's coordinates. More... | |
| void | generateAxisBaseFromDirectionAndAxis (const double(&vec)[3], char coord, CMatrixDouble &matrix) |
| Creates a homogeneus matrix (4x4) such that the coordinate given (0 for x, 1 for y, 2 for z) corresponds to the provided vector. More... | |
Linear regression methods | |
| double | getRegressionLine (const std::vector< TPoint2D > &points, TLine2D &line) |
| Using eigenvalues, gets the best fitting line for a set of 2D points. More... | |
| double | getRegressionLine (const std::vector< TPoint3D > &points, TLine3D &line) |
| Using eigenvalues, gets the best fitting line for a set of 3D points. More... | |
| double | getRegressionPlane (const std::vector< TPoint3D > &points, TPlane &plane) |
| Using eigenvalues, gets the best fitting plane for a set of 3D points. More... | |
Miscellaneous Geometry methods | |
| void | assemblePolygons (const std::vector< TSegment3D > &segms, std::vector< TPolygon3D > &polys) |
| Tries to assemble a set of segments into a set of closed polygons. More... | |
| void | assemblePolygons (const std::vector< TSegment3D > &segms, std::vector< TPolygon3D > &polys, std::vector< TSegment3D > &remainder) |
| Tries to assemble a set of segments into a set of closed polygons, returning the unused segments as another out parameter. More... | |
| void | assemblePolygons (const std::vector< TObject3D > &objs, std::vector< TPolygon3D > &polys) |
| Extracts all the polygons, including those formed from segments, from the set of objects. More... | |
| void | assemblePolygons (const std::vector< TObject3D > &objs, std::vector< TPolygon3D > &polys, std::vector< TObject3D > &remainder) |
| Extracts all the polygons, including those formed from segments, from the set of objects. More... | |
| void | assemblePolygons (const std::vector< TObject3D > &objs, std::vector< TPolygon3D > &polys, std::vector< TSegment3D > &remainder1, std::vector< TObject3D > &remainder2) |
| Extracts all the polygons, including those formed from segments, from the set of objects. More... | |
| void | setEpsilon (double nE) |
| Changes the value of the geometric epsilon (default = 1e-5) More... | |
| double | getEpsilon () |
| Gets the value of the geometric epsilon (default = 1e-5) More... | |
| bool | splitInConvexComponents (const TPolygon2D &poly, std::vector< TPolygon2D > &components) |
| Splits a 2D polygon into convex components. More... | |
| bool | splitInConvexComponents (const TPolygon3D &poly, std::vector< TPolygon3D > &components) |
| Splits a 3D polygon into convex components. More... | |
| void | getSegmentBisector (const TSegment2D &sgm, TLine2D &bis) |
| Gets the bisector of a 2D segment. More... | |
| void | getSegmentBisector (const TSegment3D &sgm, TPlane &bis) |
| Gets the bisector of a 3D segment. More... | |
| void | getAngleBisector (const TLine2D &l1, const TLine2D &l2, TLine2D &bis) |
| Gets the bisector of two lines or segments (implicit constructor will be used if necessary) More... | |
| void | getAngleBisector (const TLine3D &l1, const TLine3D &l2, TLine3D &bis) |
| Gets the bisector of two lines or segments (implicit constructor will be used if necessary) More... | |
| bool | traceRay (const std::vector< TPolygonWithPlane > &vec, const mrpt::poses::CPose3D &pose, double &dist) |
| Fast ray tracing method using polygons' properties. More... | |
| bool | traceRay (const std::vector< TPolygon3D > &vec, const mrpt::poses::CPose3D &pose, double &dist) |
| Fast ray tracing method using polygons' properties. More... | |
| template<class T , class U , class V > | |
| void | crossProduct3D (const T &v0, const U &v1, V &vOut) |
| Computes the cross product of two 3D vectors, returning a vector normal to both. More... | |
| template<class T > | |
| void | crossProduct3D (const std::vector< T > &v0, const std::vector< T > &v1, std::vector< T > &v_out) |
| template<class VEC1 , class VEC2 > | |
| Eigen::Matrix< double, 3, 1 > | crossProduct3D (const VEC1 &v0, const VEC2 &v1) |
| overload (returning a vector of size 3 by value). More... | |
| template<class VECTOR , class MATRIX > | |
| void | skew_symmetric3 (const VECTOR &v, MATRIX &M) |
| Computes the 3x3 skew symmetric matrix from a 3-vector or 3-array:
. More... | |
| template<class VECTOR > | |
| mrpt::math::CMatrixDouble33 | skew_symmetric3 (const VECTOR &v) |
| template<class VECTOR , class MATRIX > | |
| void | skew_symmetric3_neg (const VECTOR &v, MATRIX &M) |
| Computes the negative version of a 3x3 skew symmetric matrix from a 3-vector or 3-array:
. More... | |
| template<class VECTOR > | |
| mrpt::math::CMatrixDouble33 | skew_symmetric3_neg (const VECTOR &v) |
| template<class T , class U > | |
| bool | vectorsAreParallel2D (const T &v1, const U &v2) |
| Returns true if two 2D vectors are parallel. More... | |
| template<class T , class U > | |
| bool | vectorsAreParallel3D (const T &v1, const U &v2) |
| Returns true if two 3D vectors are parallel. More... | |
| void | closestFromPointToSegment (const double &Px, const double &Py, const double &x1, const double &y1, const double &x2, const double &y2, double &out_x, double &out_y) |
| Computes the closest point from a given point to a segment. More... | |
| void | closestFromPointToLine (const double &Px, const double &Py, const double &x1, const double &y1, const double &x2, const double &y2, double &out_x, double &out_y) |
| Computes the closest point from a given point to a (infinite) line. More... | |
| double | closestSquareDistanceFromPointToLine (const double &Px, const double &Py, const double &x1, const double &y1, const double &x2, const double &y2) |
| Returns the square distance from a point to a line. More... | |
| template<typename T > | |
| T | distanceBetweenPoints (const T x1, const T y1, const T x2, const T y2) |
| Returns the distance between 2 points in 2D. More... | |
| template<typename T > | |
| T | distanceBetweenPoints (const T x1, const T y1, const T z1, const T x2, const T y2, const T z2) |
| Returns the distance between 2 points in 3D. More... | |
| template<typename T > | |
| T | distanceSqrBetweenPoints (const T x1, const T y1, const T x2, const T y2) |
| Returns the square distance between 2 points in 2D. More... | |
| template<typename T > | |
| T | distanceSqrBetweenPoints (const T x1, const T y1, const T z1, const T x2, const T y2, const T z2) |
| Returns the square distance between 2 points in 3D. More... | |
| template<typename T > | |
| double | minimumDistanceFromPointToSegment (const double Px, const double Py, const double x1, const double y1, const double x2, const double y2, T &out_x, T &out_y) |
| Computes the closest point from a given point to a segment, and returns that minimum distance. More... | |
| bool | SegmentsIntersection (const double x1, const double y1, const double x2, const double y2, const double x3, const double y3, const double x4, const double y4, double &ix, double &iy) |
| Returns the intersection point, and if it exists, between two segments. More... | |
| bool | SegmentsIntersection (const double x1, const double y1, const double x2, const double y2, const double x3, const double y3, const double x4, const double y4, float &ix, float &iy) |
| Returns the intersection point, and if it exists, between two segments. More... | |
| bool | pointIntoPolygon2D (const double &px, const double &py, unsigned int polyEdges, const double *poly_xs, const double *poly_ys) |
| Returns true if the 2D point (px,py) falls INTO the given polygon. More... | |
| template<typename T > | |
| bool | pointIntoQuadrangle (T x, T y, T v1x, T v1y, T v2x, T v2y, T v3x, T v3y, T v4x, T v4y) |
| Specialized method to check whether a point (x,y) falls into a quadrangle. More... | |
| double | distancePointToPolygon2D (const double &px, const double &py, unsigned int polyEdges, const double *poly_xs, const double *poly_ys) |
| Returns the closest distance of a given 2D point to a polygon, or "0" if the point is INTO the polygon or its perimeter. More... | |
| bool | minDistBetweenLines (const double &p1_x, const double &p1_y, const double &p1_z, const double &p2_x, const double &p2_y, const double &p2_z, const double &p3_x, const double &p3_y, const double &p3_z, const double &p4_x, const double &p4_y, const double &p4_z, double &x, double &y, double &z, double &dist) |
| Calculates the minimum distance between a pair of lines. More... | |
| bool | RectanglesIntersection (const double &R1_x_min, const double &R1_x_max, const double &R1_y_min, const double &R1_y_max, const double &R2_x_min, const double &R2_x_max, const double &R2_y_min, const double &R2_y_max, const double &R2_pose_x, const double &R2_pose_y, const double &R2_pose_phi) |
| Returns whether two rotated rectangles intersect. More... | |
| template<class T > | |
| CMatrixTemplateNumeric< T > | generateAxisBaseFromDirection (T dx, T dy, T dz) |
| Computes an axis base (a set of three 3D normal vectors) with the given vector being the first of them ("X") NOTE: Make sure of passing all floats or doubles and that the template of the receiving matrix is of the same type! More... | |
k-means algorithms | |
| template<class LIST_OF_VECTORS1 , class LIST_OF_VECTORS2 > | |
| double | kmeans (const size_t k, const LIST_OF_VECTORS1 &points, std::vector< int > &assignments, LIST_OF_VECTORS2 *out_centers=nullptr, const size_t attempts=3) |
| k-means algorithm to cluster a list of N points of arbitrary dimensionality into exactly K clusters. More... | |
| template<class LIST_OF_VECTORS1 , class LIST_OF_VECTORS2 > | |
| double | kmeanspp (const size_t k, const LIST_OF_VECTORS1 &points, std::vector< int > &assignments, LIST_OF_VECTORS2 *out_centers=nullptr, const size_t attempts=3) |
| k-means++ algorithm to cluster a list of N points of arbitrary dimensionality into exactly K clusters. More... | |
Container initializer from pose classes | |
| template<class CONTAINER , class POINT_OR_POSE > | |
| CONTAINER & | containerFromPoseOrPoint (CONTAINER &C, const POINT_OR_POSE &p) |
| Conversion of poses (TPose2D,TPoint2D,..., mrpt::poses::CPoint2D,CPose3D,...) to MRPT containers (vector/matrix) More... | |
Operators for binary streaming of MRPT matrices | |
| template<size_t NROWS, size_t NCOLS> | |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CMatrixFixedNumeric< float, NROWS, NCOLS > &M) |
| Read operator from a CStream. More... | |
| template<size_t NROWS, size_t NCOLS> | |
| mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CMatrixFixedNumeric< double, NROWS, NCOLS > &M) |
| Read operator from a CStream. More... | |
| template<size_t NROWS, size_t NCOLS> | |
| mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const CMatrixFixedNumeric< float, NROWS, NCOLS > &M) |
| Write operator for writing into a CStream. More... | |
| template<size_t NROWS, size_t NCOLS> | |
| mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const CMatrixFixedNumeric< double, NROWS, NCOLS > &M) |
| Write operator for writing into a CStream. More... | |
Operators for text streaming of MRPT matrices | |
| template<typename T , size_t NROWS, size_t NCOLS> | |
| std::ostream & | operator<< (std::ostream &s, const CMatrixFixedNumeric< T, NROWS, NCOLS > &m) |
| Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output. More... | |
| template<typename T > | |
| std::ostream & | operator<< (std::ostream &s, const CMatrixTemplateNumeric< T > &m) |
| Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output. More... | |
Generic container element-wise operations - Miscelaneous | |
| template<class CONTAINER , typename VALUE > | |
| VALUE | squareNorm_accum (const VALUE total, const CONTAINER &v) |
| Accumulate the squared-norm of a vector/array/matrix into "total" (this function is compatible with std::accumulate). More... | |
| template<size_t N, class T , class U > | |
| T | squareNorm (const U &v) |
| Compute the square norm of anything implementing []. More... | |
| template<class CONTAINER1 , class CONTAINER2 > | |
| CONTAINER1::Scalar | dotProduct (const CONTAINER1 &v1, const CONTAINER1 &v2) |
| v1*v2: The dot product of two containers (vectors/arrays/matrices) More... | |
| template<size_t N, class T , class U , class V > | |
| T | dotProduct (const U &v1, const V &v2) |
| v1*v2: The dot product of any two objects supporting [] More... | |
| template<class CONTAINER > | |
| CONTAINER::Scalar | sum (const CONTAINER &v) |
| Computes the sum of all the elements. More... | |
| template<typename T > | |
| T | sum (const std::vector< T > &v) |
| template<class CONTAINER , typename RET > | |
| RET | sumRetType (const CONTAINER &v) |
| Computes the sum of all the elements, with a custom return type. More... | |
| template<class CONTAINER > | |
| double | mean (const CONTAINER &v) |
| Computes the mean value of a vector. More... | |
| template<typename T > | |
| void | minimum_maximum (const std::vector< T > &V, T &curMin, T &curMax) |
| Return the maximum and minimum values of a std::vector. More... | |
| template<class Derived > | |
| void | minimum_maximum (const Eigen::MatrixBase< Derived > &V, typename Eigen::MatrixBase< Derived >::Scalar &curMin, typename Eigen::MatrixBase< Derived >::Scalar &curMax) |
| Return the maximum and minimum values of a Eigen-based vector or matrix. More... | |
| template<class CONTAINER1 , class CONTAINER2 > | |
| size_t | countCommonElements (const CONTAINER1 &a, const CONTAINER2 &b) |
| Counts the number of elements that appear in both STL-like containers (comparison through the == operator) It is assumed that no repeated elements appear within each of the containers. More... | |
| template<class CONTAINER > | |
| void | adjustRange (CONTAINER &m, const typename CONTAINER::Scalar minVal, const typename CONTAINER::Scalar maxVal) |
| Adjusts the range of all the elements such as the minimum and maximum values being those supplied by the user. More... | |
| template<class VECTORLIKE > | |
| void | meanAndStd (const VECTORLIKE &v, double &out_mean, double &out_std, bool unbiased=true) |
| Computes the standard deviation of a vector. More... | |
| template<class VECTORLIKE > | |
| double | stddev (const VECTORLIKE &v, bool unbiased=true) |
| Computes the standard deviation of a vector. More... | |
| template<class VECTOR_OF_VECTOR , class VECTORLIKE , class MATRIXLIKE > | |
| void | meanAndCovVec (const VECTOR_OF_VECTOR &v, VECTORLIKE &out_mean, MATRIXLIKE &out_cov) |
| Computes the mean vector and covariance from a list of values given as a vector of vectors, where each row is a sample. More... | |
| template<class VECTOR_OF_VECTOR , class RETURN_MATRIX > | |
| RETURN_MATRIX | covVector (const VECTOR_OF_VECTOR &v) |
| Computes the covariance matrix from a list of values given as a vector of vectors, where each row is a sample. More... | |
| template<class CONT1 , class CONT2 > | |
| double | ncc_vector (const CONT1 &patch1, const CONT2 &patch2) |
| Normalised Cross Correlation between two vector patches The Matlab code for this is a = a - mean2(a); b = b - mean2(b); r = sum(sum(a. More... | |
Generic std::vector element-wise operations | |
| template<typename T1 , typename T2 > | |
| std::vector< T1 > & | operator*= (std::vector< T1 > &a, const std::vector< T2 > &b) |
| a*=b (element-wise multiplication) More... | |
| template<typename T1 > | |
| std::vector< T1 > & | operator*= (std::vector< T1 > &a, const T1 b) |
| a*=k (multiplication by a constant) More... | |
| template<typename T1 , typename T2 > | |
| std::vector< T1 > | operator* (const std::vector< T1 > &a, const std::vector< T2 > &b) |
| a*b (element-wise multiplication) More... | |
| template<typename T1 , typename T2 > | |
| std::vector< T1 > & | operator+= (std::vector< T1 > &a, const std::vector< T2 > &b) |
| a+=b (element-wise sum) More... | |
| template<typename T1 > | |
| std::vector< T1 > & | operator+= (std::vector< T1 > &a, const T1 b) |
| a+=b (sum a constant) More... | |
| template<typename T1 , typename T2 > | |
| std::vector< T1 > | operator+ (const std::vector< T1 > &a, const std::vector< T2 > &b) |
| a+b (element-wise sum) More... | |
| template<typename T1 , typename T2 > | |
| std::vector< T1 > | operator- (const std::vector< T1 > &v1, const std::vector< T2 > &v2) |
RANSAC detectors | |
| template<typename NUMTYPE > | |
| void | ransac_detect_3D_planes (const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &x, const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &y, const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &z, std::vector< std::pair< size_t, TPlane >> &out_detected_planes, const double threshold, const size_t min_inliers_for_valid_plane=10) |
| Fit a number of 3-D planes to a given point cloud, automatically determining the number of existing planes by means of the provided threshold and minimum number of supporting inliers. More... | |
| template<typename NUMTYPE > | |
| void | ransac_detect_2D_lines (const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &x, const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &y, std::vector< std::pair< size_t, TLine2D >> &out_detected_lines, const double threshold, const size_t min_inliers_for_valid_line=5) |
| Fit a number of 2-D lines to a given point cloud, automatically determining the number of existing lines by means of the provided threshold and minimum number of supporting inliers. More... | |
| template<class POINTSMAP > | |
| void | ransac_detect_3D_planes (const POINTSMAP *points_map, std::vector< std::pair< size_t, TPlane >> &out_detected_planes, const double threshold, const size_t min_inliers_for_valid_plane) |
| A stub for ransac_detect_3D_planes() with the points given as a mrpt::maps::CPointsMap. More... | |
SLERP (Spherical Linear Interpolation) functions | |
| template<typename T > | |
| void | slerp (const CQuaternion< T > &q0, const CQuaternion< T > &q1, const double t, CQuaternion< T > &q) |
| SLERP interpolation between two quaternions. More... | |
| void | slerp (const mrpt::poses::CPose3D &q0, const mrpt::poses::CPose3D &q1, const double t, mrpt::poses::CPose3D &p) |
| SLERP interpolation between two 6D poses - like mrpt::math::slerp for quaternions, but interpolates the [X,Y,Z] coordinates as well. More... | |
| void | slerp (const mrpt::poses::CPose3DQuat &q0, const mrpt::poses::CPose3DQuat &q1, const double t, mrpt::poses::CPose3DQuat &p) |
| void | slerp_ypr (const mrpt::math::TPose3D &q0, const mrpt::math::TPose3D &q1, const double t, mrpt::math::TPose3D &p) |
![\[ d^2 = (X-MU)^\top \Sigma^{-1} (X-MU) \]](form_15.png)
![\[ d = \sqrt{ (X-MU)^\top \Sigma^{-1} (X-MU) } \]](form_16.png)
![\[ M([x ~ y ~ z]^\top) = \left( \begin{array}{c c c} 0 & -z & y \\ z & 0 & -x \\ -y & x & 0 \end{array} \right) \]](form_29.png)
![\[ -M([x ~ y ~ z]^\top) = \left( \begin{array}{c c c} 0 & z & -y \\ -z & 0 & x \\ y & -x & 0 \end{array} \right) \]](form_30.png)
Variables | |
| const unsigned char | GEOMETRIC_TYPE_POINT = 0 |
| Object type identifier for TPoint2D or TPoint3D. More... | |
| const unsigned char | GEOMETRIC_TYPE_SEGMENT = 1 |
| Object type identifier for TSegment2D or TSegment3D. More... | |
| const unsigned char | GEOMETRIC_TYPE_LINE = 2 |
| Object type identifier for TLine2D or TLine3D. More... | |
| const unsigned char | GEOMETRIC_TYPE_POLYGON = 3 |
| Object type identifier for TPolygon2D or TPolygon3D. More... | |
| const unsigned char | GEOMETRIC_TYPE_PLANE = 4 |
| Object type identifier for TPlane. More... | |
| const unsigned char | GEOMETRIC_TYPE_UNDEFINED = 255 |
| Object type identifier for empty TObject2D or TObject3D. More... | |
Typedef Documentation
◆ CLevenbergMarquardt
The default name for the LM class is an instantiation for "double".
Definition at line 261 of file CLevenbergMarquardt.h.
◆ CMatrixDouble
| typedef CMatrixTemplateNumeric< double > mrpt::math::CMatrixDouble |
Declares a matrix of double numbers (non serializable).
For a serializable version, use math::CMatrixD
- See also
- CMatrixFloat, CMatrix, CMatrixD
Definition at line 147 of file CMatrixTemplateNumeric.h.
◆ CMatrixDouble12
| typedef CMatrixFixedNumeric<double, 1, 2> mrpt::math::CMatrixDouble12 |
Definition at line 61 of file eigen_frwds.h.
◆ CMatrixDouble13
| typedef CMatrixFixedNumeric<double, 1, 3> mrpt::math::CMatrixDouble13 |
Definition at line 59 of file eigen_frwds.h.
◆ CMatrixDouble15
| typedef CMatrixFixedNumeric<double, 1, 5> mrpt::math::CMatrixDouble15 |
Definition at line 68 of file eigen_frwds.h.
◆ CMatrixDouble16
| typedef CMatrixFixedNumeric<double, 1, 6> mrpt::math::CMatrixDouble16 |
Definition at line 64 of file eigen_frwds.h.
◆ CMatrixDouble17
| typedef CMatrixFixedNumeric<double, 1, 7> mrpt::math::CMatrixDouble17 |
Definition at line 66 of file eigen_frwds.h.
◆ CMatrixDouble21
| typedef CMatrixFixedNumeric<double, 2, 1> mrpt::math::CMatrixDouble21 |
Definition at line 62 of file eigen_frwds.h.
◆ CMatrixDouble22
| typedef CMatrixFixedNumeric<double, 2, 2> mrpt::math::CMatrixDouble22 |
Definition at line 52 of file eigen_frwds.h.
◆ CMatrixDouble23
| typedef CMatrixFixedNumeric<double, 2, 3> mrpt::math::CMatrixDouble23 |
Definition at line 53 of file eigen_frwds.h.
◆ CMatrixDouble31
| typedef CMatrixFixedNumeric<double, 3, 1> mrpt::math::CMatrixDouble31 |
Definition at line 60 of file eigen_frwds.h.
◆ CMatrixDouble32
| typedef CMatrixFixedNumeric<double, 3, 2> mrpt::math::CMatrixDouble32 |
Definition at line 54 of file eigen_frwds.h.
◆ CMatrixDouble33
| typedef CMatrixFixedNumeric<double, 3, 3> mrpt::math::CMatrixDouble33 |
Definition at line 55 of file eigen_frwds.h.
◆ CMatrixDouble41
| typedef CMatrixFixedNumeric<double, 4, 1> mrpt::math::CMatrixDouble41 |
Definition at line 69 of file eigen_frwds.h.
◆ CMatrixDouble44
| typedef CMatrixFixedNumeric<double, 4, 4> mrpt::math::CMatrixDouble44 |
Definition at line 56 of file eigen_frwds.h.
◆ CMatrixDouble51
| typedef CMatrixFixedNumeric<double, 5, 1> mrpt::math::CMatrixDouble51 |
Definition at line 67 of file eigen_frwds.h.
◆ CMatrixDouble61
| typedef CMatrixFixedNumeric<double, 6, 1> mrpt::math::CMatrixDouble61 |
Definition at line 63 of file eigen_frwds.h.
◆ CMatrixDouble66
| typedef CMatrixFixedNumeric<double, 6, 6> mrpt::math::CMatrixDouble66 |
Definition at line 57 of file eigen_frwds.h.
◆ CMatrixDouble71
| typedef CMatrixFixedNumeric<double, 7, 1> mrpt::math::CMatrixDouble71 |
Definition at line 65 of file eigen_frwds.h.
◆ CMatrixDouble77
| typedef CMatrixFixedNumeric<double, 7, 7> mrpt::math::CMatrixDouble77 |
Definition at line 58 of file eigen_frwds.h.
◆ CMatrixFloat
| typedef CMatrixTemplateNumeric< float > mrpt::math::CMatrixFloat |
Declares a matrix of float numbers (non serializable).
For a serializable version, use math::CMatrix
- See also
- CMatrixDouble, CMatrix, CMatrixD
Definition at line 141 of file CMatrixTemplateNumeric.h.
◆ CMatrixFloat12
| typedef CMatrixFixedNumeric<float, 1, 2> mrpt::math::CMatrixFloat12 |
Definition at line 80 of file eigen_frwds.h.
◆ CMatrixFloat13
| typedef CMatrixFixedNumeric<float, 1, 3> mrpt::math::CMatrixFloat13 |
Definition at line 78 of file eigen_frwds.h.
◆ CMatrixFloat15
| typedef CMatrixFixedNumeric<float, 1, 5> mrpt::math::CMatrixFloat15 |
Definition at line 87 of file eigen_frwds.h.
◆ CMatrixFloat16
| typedef CMatrixFixedNumeric<float, 1, 6> mrpt::math::CMatrixFloat16 |
Definition at line 83 of file eigen_frwds.h.
◆ CMatrixFloat17
| typedef CMatrixFixedNumeric<float, 1, 7> mrpt::math::CMatrixFloat17 |
Definition at line 85 of file eigen_frwds.h.
◆ CMatrixFloat21
| typedef CMatrixFixedNumeric<float, 2, 1> mrpt::math::CMatrixFloat21 |
Definition at line 81 of file eigen_frwds.h.
◆ CMatrixFloat22
| typedef CMatrixFixedNumeric<float, 2, 2> mrpt::math::CMatrixFloat22 |
Definition at line 71 of file eigen_frwds.h.
◆ CMatrixFloat23
| typedef CMatrixFixedNumeric<float, 2, 3> mrpt::math::CMatrixFloat23 |
Definition at line 72 of file eigen_frwds.h.
◆ CMatrixFloat31
| typedef CMatrixFixedNumeric<float, 3, 1> mrpt::math::CMatrixFloat31 |
Definition at line 79 of file eigen_frwds.h.
◆ CMatrixFloat32
| typedef CMatrixFixedNumeric<float, 3, 2> mrpt::math::CMatrixFloat32 |
Definition at line 73 of file eigen_frwds.h.
◆ CMatrixFloat33
| typedef CMatrixFixedNumeric<float, 3, 3> mrpt::math::CMatrixFloat33 |
Definition at line 74 of file eigen_frwds.h.
◆ CMatrixFloat44
| typedef CMatrixFixedNumeric<float, 4, 4> mrpt::math::CMatrixFloat44 |
Definition at line 75 of file eigen_frwds.h.
◆ CMatrixFloat51
| typedef CMatrixFixedNumeric<float, 5, 1> mrpt::math::CMatrixFloat51 |
Definition at line 86 of file eigen_frwds.h.
◆ CMatrixFloat61
| typedef CMatrixFixedNumeric<float, 6, 1> mrpt::math::CMatrixFloat61 |
Definition at line 82 of file eigen_frwds.h.
◆ CMatrixFloat66
| typedef CMatrixFixedNumeric<float, 6, 6> mrpt::math::CMatrixFloat66 |
Definition at line 76 of file eigen_frwds.h.
◆ CMatrixFloat71
| typedef CMatrixFixedNumeric<float, 7, 1> mrpt::math::CMatrixFloat71 |
Definition at line 84 of file eigen_frwds.h.
◆ CMatrixFloat77
| typedef CMatrixFixedNumeric<float, 7, 7> mrpt::math::CMatrixFloat77 |
Definition at line 77 of file eigen_frwds.h.
◆ CMatrixLongDouble
| typedef CMatrixTemplateNumeric<double> mrpt::math::CMatrixLongDouble |
Declares a matrix of "long doubles" (non serializable), or of "doubles" if the compiler does not support "long double".
- See also
- CMatrixDouble, CMatrixFloat
Definition at line 165 of file CMatrixTemplateNumeric.h.
◆ CMatrixUInt
| typedef CMatrixTemplateNumeric<unsigned int> mrpt::math::CMatrixUInt |
Declares a matrix of unsigned ints (non serializable).
- See also
- CMatrixDouble, CMatrixFloat
Definition at line 152 of file CMatrixTemplateNumeric.h.
◆ CQuaternionDouble
| typedef CQuaternion<double> mrpt::math::CQuaternionDouble |
A quaternion of data type "double".
Definition at line 504 of file CQuaternion.h.
◆ CQuaternionFloat
| typedef CQuaternion<float> mrpt::math::CQuaternionFloat |
A quaternion of data type "float".
Definition at line 506 of file CQuaternion.h.
◆ CVectorDouble
| typedef dynamic_vector< double > mrpt::math::CVectorDouble |
Column vector, like Eigen::MatrixXd, but automatically initialized to zeros since construction.
Definition at line 44 of file eigen_frwds.h.
◆ CVectorFloat
| typedef dynamic_vector< float > mrpt::math::CVectorFloat |
Column vector, like Eigen::MatrixXf, but automatically initialized to zeros since construction.
Definition at line 42 of file eigen_frwds.h.
◆ FFT_TYPE
| typedef float mrpt::math::FFT_TYPE |
Copyright(C) 1997 Takuya OOURA (email: ooura@mmm.t.u-tokyo.ac.jp).
You may use, copy, modify this code for any purpose and without fee. You may distribute this ORIGINAL package.
Enumeration Type Documentation
◆ TConstructorFlags_Matrices
For usage in one of the constructors of CMatrixFixedNumeric or CMatrixTemplate (and derived classes), if it's not required to fill it with zeros at the constructor to save time.
| Enumerator | |
|---|---|
| UNINITIALIZED_MATRIX | |
Definition at line 84 of file math_frwds.h.
◆ TConstructorFlags_Quaternions
| Enumerator | |
|---|---|
| UNINITIALIZED_QUATERNION | |
Definition at line 22 of file CQuaternion.h.
◆ TMatrixTextFileFormat
Selection of the number format in CMatrixTemplate::saveToTextFile
| Enumerator | |
|---|---|
| MATRIX_FORMAT_ENG | engineering format 'e' |
| MATRIX_FORMAT_FIXED | fixed floating point 'f' |
| MATRIX_FORMAT_INT | intergers 'i' |
Definition at line 71 of file math_frwds.h.
Function Documentation
◆ absDiff()
| T mrpt::math::absDiff | ( | const T & | lhs, |
| const T & | rhs | ||
| ) |
Absolute difference between two numbers.
Definition at line 52 of file base/include/mrpt/math/utils.h.
Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition2D(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition3D(), mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::extractSubGraph(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::registerNewEdge(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateState().
◆ adjustRange()
| void mrpt::math::adjustRange | ( | CONTAINER & | m, |
| const typename CONTAINER::Scalar | minVal, | ||
| const typename CONTAINER::Scalar | maxVal | ||
| ) |
Adjusts the range of all the elements such as the minimum and maximum values being those supplied by the user.
Definition at line 285 of file ops_containers.h.
References minimum_maximum().
◆ approximatelyEqual() [1/2]
| bool mrpt::math::approximatelyEqual | ( | T1 | a, |
| T1 | b, | ||
| T2 | epsilon | ||
| ) |
Compare 2 floats and determine whether they are equal.
- Returns
- True if equal, false otherwise
- Parameters
-
a Fist num b Second num epsilon Difference below which a, b are considered equal
Definition at line 32 of file base/include/mrpt/math/utils.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::addScanMatchingEdges(), approximatelyEqual(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::computeDominantEigenVector().
◆ approximatelyEqual() [2/2]
| bool mrpt::math::approximatelyEqual | ( | T | a, |
| T | b | ||
| ) |
Compare 2 floats and determine whether they are equal.
- Returns
- True if equal, false otherwise
- Parameters
-
a Fist num b Second num
Definition at line 43 of file base/include/mrpt/math/utils.h.
References approximatelyEqual().
◆ bitrv2()
Copyright(C) 1997 Takuya OOURA (email: ooura@mmm.t.u-tokyo.ac.jp).
You may use, copy, modify this code for any purpose and without fee. You may distribute this ORIGINAL package.
Definition at line 472 of file math.cpp.
Referenced by cdft(), makewt(), and rdft().
◆ cdft()
Copyright(C) 1997 Takuya OOURA (email: ooura@mmm.t.u-tokyo.ac.jp).
You may use, copy, modify this code for any purpose and without fee. You may distribute this ORIGINAL package.
Definition at line 539 of file math.cpp.
References bitrv2(), cftbsub(), cftfsub(), and makewt().
Referenced by cdft2d(), and rdft2d().
◆ cdft2d()
| void mrpt::math::cdft2d | ( | int | n1, |
| int | n2, | ||
| int | isgn, | ||
| FFT_TYPE ** | a, | ||
| FFT_TYPE * | t, | ||
| int * | ip, | ||
| FFT_TYPE * | w | ||
| ) |
Copyright(C) 1997 Takuya OOURA (email: ooura@mmm.t.u-tokyo.ac.jp).
You may use, copy, modify this code for any purpose and without fee. You may distribute this ORIGINAL package.
-----— Complex DFT (Discrete Fourier Transform) -----— [definition] <case1> X[k1][k2] = sum_j1=0^n1-1 sum_j2=0^n2-1 x[j1][j2] * exp(2*pi*i*j1*k1/n1) * exp(2*pi*i*j2*k2/n2), 0<=k1<n1, 0<=k2<n2 <case2> X[k1][k2] = sum_j1=0^n1-1 sum_j2=0^n2-1 x[j1][j2] * exp(-2*pi*i*j1*k1/n1) * exp(-2*pi*i*j2*k2/n2), 0<=k1<n1, 0<=k2<n2 (notes: sum_j=0^n-1 is a summation from j=0 to n-1) [usage] <case1> ip[0] = 0; // first time only cdft2d(n1, 2*n2, 1, a, t, ip, w); <case2> ip[0] = 0; // first time only cdft2d(n1, 2*n2, -1, a, t, ip, w); [parameters] n1 :data length (int) n1 >= 1, n1 = power of 2 2*n2 :data length (int) n2 >= 1, n2 = power of 2 a[0...n1-1][0...2*n2-1] :input/output data (double **) input data a[j1][2*j2] = Re(x[j1][j2]), a[j1][2*j2+1] = Im(x[j1][j2]), 0<=j1<n1, 0<=j2<n2 output data a[k1][2*k2] = Re(X[k1][k2]), a[k1][2*k2+1] = Im(X[k1][k2]), 0<=k1<n1, 0<=k2<n2 t[0...2*n1-1] :work area (double *) ip[0...*] :work area for bit reversal (int *) length of ip >= 2+sqrt(n) ; if n % 4 == 0 2+sqrt(n/2); otherwise (n = max(n1, n2)) ip[0],ip[1] are pointers of the cos/sin table. w[0...*] :cos/sin table (double *) length of w >= max(n1/2, n2/2) w[],ip[] are initialized if ip[0] == 0. [remark] Inverse of cdft2d(n1, 2*n2, -1, a, t, ip, w); is cdft2d(n1, 2*n2, 1, a, t, ip, w); for (j1 = 0; j1 <= n1 - 1; j1++) { for (j2 = 0; j2 <= 2 * n2 - 1; j2++) { a[j1][j2] *= 1.0 / (n1 * n2); } }
Definition at line 945 of file math.cpp.
References cdft(), and makewt().
Referenced by dft2_complex(), and idft2_complex().
◆ cftbsub()
◆ cftfsub()
◆ containerFromPoseOrPoint()
| CONTAINER & mrpt::math::containerFromPoseOrPoint | ( | CONTAINER & | C, |
| const POINT_OR_POSE & | p | ||
| ) |
Conversion of poses (TPose2D,TPoint2D,..., mrpt::poses::CPoint2D,CPose3D,...) to MRPT containers (vector/matrix)
Conversion of poses to MRPT containers (vector/matrix)
Definition at line 23 of file point_poses2vectors.h.
References static_size.
◆ countCommonElements()
| size_t mrpt::math::countCommonElements | ( | const CONTAINER1 & | a, |
| const CONTAINER2 & | b | ||
| ) |
Counts the number of elements that appear in both STL-like containers (comparison through the == operator) It is assumed that no repeated elements appear within each of the containers.
Definition at line 271 of file ops_containers.h.
Referenced by mrpt::slam::CRangeBearingKFSLAM::computeOffDiagonalBlocksApproximationError().
◆ cov()
|
inline |
Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample, so the covariance is MxM.
- Parameters
-
v The set of data, as a NxM matrix. out_cov The output MxM matrix for the estimated covariance matrix.
- See also
- math::mean,math::stddev, math::cov
Definition at line 148 of file ops_matrices.h.
References meanAndCovMat().
Referenced by mrpt::poses::CPosePDFSOG::assureSymmetry(), mrpt::poses::CPosePDFGaussianInf::bayesianFusion(), mrpt::poses::CPosePDFSOG::bayesianFusion(), mrpt::poses::CPosePDFSOG::changeCoordinatesReference(), mrpt::detectors::CFaceDetection::checkIfFacePlaneCov(), mrpt::poses::CPose3DPDFGaussianInf::copyFrom(), mrpt::poses::CPosePDFSOG::copyFrom(), mrpt::random::CRandomGenerator::drawDefinitePositiveMatrix(), mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::poses::CPose3DPDFGaussianInf::drawManySamples(), mrpt::poses::CPosePDFGaussianInf::drawManySamples(), mrpt::poses::CPose3DPDFGaussianInf::drawSingleSample(), mrpt::poses::CPosePDFGaussianInf::drawSingleSample(), mrpt::poses::CPosePDFGaussianInf::evaluateNormalizedPDF(), mrpt::poses::CPosePDFSOG::evaluateNormalizedPDF(), mrpt::poses::CPosePDFSOG::evaluatePDF(), PosePDFGaussTests::generateRandomPose2DPDF(), Pose3DPDFGaussTests::generateRandomPose3DPDF(), Pose3DQuatPDFGaussTests::generateRandomPose3DPDF(), mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::getCovariance(), mrpt::poses::CPosePDFGrid::getCovarianceAndMean(), mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean(), mrpt::poses::CPointPDFParticles::getCovarianceAndMean(), mrpt::poses::CPose3DQuatPDFGaussianInf::getCovarianceAndMean(), mrpt::poses::CPosePDFParticles::getCovarianceAndMean(), mrpt::poses::CPosePDFSOG::getCovarianceAndMean(), mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::getCovarianceDynAndMean(), mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::getInformationMatrix(), mrpt::poses::CPosePDFSOG::getMostLikelyCovarianceAndMean(), mrpt::pbmap::getMultiDimMeanShift_color(), mrpt::poses::CPosePDFSOG::inverse(), mahalanobisDistance(), mahalanobisDistance2(), mahalanobisDistance2AndLogPDF(), mahalanobisDistance2AndPDF(), mrpt::poses::CPose3DPDFGaussianInf::mahalanobisDistanceTo(), MATLAB_plotCovariance2D(), mrpt::poses::CPosePDFSOG::mergeModes(), normalPDF(), mrpt::poses::CPosePDFGaussianInf::operator+=(), mrpt::opengl::CSetOfObjects::posePDF2opengl(), mrpt::obs::CActionRobotMovement2D::prepareFastDrawSingleSample_modelGaussian(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::random::randomNormalMultiDimensional(), mrpt::random::randomNormalMultiDimensionalMany(), mrpt::poses::CPosePDFSOG::readFromStream(), mrpt::poses::CPosePDFSOG::rotateAllCovariances(), run_test_pf_localization(), mrpt::slam::CRangeBearingKFSLAM2D::saveMapAndPath2DRepresentationAsMATLABFile(), mrpt::slam::CRangeBearingKFSLAM::saveMapAndPath2DRepresentationAsMATLABFile(), mrpt::maps::CLandmarksMap::saveToMATLABScript2D(), mrpt::poses::CPosePDFSOG::saveToTextFile(), mrpt::poses::CPoseRandomSampler::setPosePDF(), TEST(), and mrpt::poses::CPosePDFSOG::writeToStream().
◆ covVector()
|
inline |
Computes the covariance matrix from a list of values given as a vector of vectors, where each row is a sample.
- Parameters
-
v The set of data, as a vector of N vectors of M elements. out_cov The output MxM matrix for the estimated covariance matrix.
- Template Parameters
-
RETURN_MATRIX The type of the returned matrix, e.g. Eigen::MatrixXd
- See also
- math::mean,math::stddev, math::cov, meanAndCovVec
Definition at line 395 of file ops_containers.h.
References meanAndCovVec().
◆ cumsum() [1/2]
|
inline |
Computes the cumulative sum of all the elements.
- See also
- sum
Definition at line 121 of file ops_containers.h.
References cumsum().
◆ cumsum() [2/2]
|
inline |
Definition at line 111 of file ops_containers.h.
References cumsum_tmpl().
Referenced by confidenceIntervals(), and cumsum().
◆ cumsum_tmpl()
|
inline |
Computes the cumulative sum of all the elements, saving the result in another container.
This works for both matrices (even mixing their types) and vectores/arrays (even mixing types), and even to store the cumsum of any matrix into any vector/array, but not in opposite direction.
- See also
- sum
Definition at line 102 of file ops_containers.h.
References resizeLike().
Referenced by cumsum().
◆ dctsub()
◆ dotProduct() [1/2]
|
inline |
v1*v2: The dot product of two containers (vectors/arrays/matrices)
Definition at line 190 of file ops_containers.h.
◆ dotProduct() [2/2]
|
inline |
v1*v2: The dot product of any two objects supporting []
Definition at line 198 of file ops_containers.h.
◆ dstsub()
◆ estimateJacobian()
| void mrpt::math::estimateJacobian | ( | const VECTORLIKE & | x, |
| const std::function< void(const VECTORLIKE &x, const USERPARAM &y, VECTORLIKE3 &out)> & | functor, | ||
| const VECTORLIKE2 & | increments, | ||
| const USERPARAM & | userParam, | ||
| MATRIXLIKE & | out_Jacobian | ||
| ) |
Estimate the Jacobian of a multi-dimensional function around a point "x", using finite differences of a given size in each input dimension.
The template argument USERPARAM is for the data can be passed to the functor. If it is not required, set to "int" or any other basic type.
This is a generic template which works with: VECTORLIKE: vector_float, CVectorDouble, CArrayNumeric<>, double [N], ... MATRIXLIKE: CMatrixTemplateNumeric, CMatrixFixedNumeric
Definition at line 31 of file num_jacobian.h.
References ASSERT_, MRPT_END, and MRPT_START.
Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::math::jacobians::jacob_numeric_estimate(), and mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().
◆ four1()
| void mrpt::math::four1 | ( | float | data[], |
| unsigned long | nn, | ||
| int | isign | ||
| ) |
◆ getColumnAccessor() [1/4]
|
inline |
Definition at line 562 of file matrix_adaptors.h.
◆ getColumnAccessor() [2/4]
|
inline |
Definition at line 641 of file matrix_adaptors.h.
◆ getColumnAccessor() [3/4]
|
inline |
Definition at line 699 of file matrix_adaptors.h.
◆ getColumnAccessor() [4/4]
|
inline |
Definition at line 762 of file matrix_adaptors.h.
◆ getRowAccessor() [1/4]
|
inline |
Definition at line 283 of file matrix_adaptors.h.
◆ getRowAccessor() [2/4]
|
inline |
Definition at line 364 of file matrix_adaptors.h.
◆ getRowAccessor() [3/4]
|
inline |
Definition at line 424 of file matrix_adaptors.h.
◆ getRowAccessor() [4/4]
|
inline |
Definition at line 488 of file matrix_adaptors.h.
◆ histogram()
| std::vector<double> mrpt::math::histogram | ( | const CONTAINER & | v, |
| double | limit_min, | ||
| double | limit_max, | ||
| size_t | number_bins, | ||
| bool | do_normalization = false, |
||
| std::vector< double > * | out_bin_centers = nullptr |
||
| ) |
Computes the normalized or normal histogram of a sequence of numbers given the number of bins and the limits.
In any case this is a "linear" histogram, i.e. for matrices, all the elements are taken as if they were a plain sequence, not taking into account they were in columns or rows. If desired, out_bin_centers can be set to receive the bins centers.
Definition at line 65 of file ops_containers.h.
References mrpt::math::CHistogram::add(), mrpt::math::CHistogram::getHistogram(), and mrpt::math::CHistogram::getHistogramNormalized().
Referenced by compute_color(), confidenceIntervals(), fill_inverse_cmap(), mrpt::pbmap::getMode(), pass2_fs_dither(), pass2_no_dither(), prescan_quantize(), start_pass_2_quant(), and update_box().
◆ homogeneousMatrixInverse() [1/3]
| void mrpt::math::homogeneousMatrixInverse | ( | const MATRIXLIKE1 & | M, |
| MATRIXLIKE2 & | out_inverse_M | ||
| ) |
Efficiently compute the inverse of a 4x4 homogeneous matrix by only transposing the rotation 3x3 part and solving the translation with dot products.
This is a generic template which works with: MATRIXLIKE: CMatrixTemplateNumeric, CMatrixFixedNumeric
Definition at line 27 of file homog_matrices.h.
References ASSERT_, MRPT_END, MRPT_START, and size().
Referenced by mrpt::poses::CPoseOrPoint< CPoint3D >::getInverseHomogeneousMatrix(), mrpt::poses::CPose3D::inverse(), mrpt::poses::CPose3D::inverseComposeFrom(), mrpt::poses::CPose3D::inverseComposePoint(), and mrpt::obs::detail::project3DPointsFromDepthImageInto().
◆ homogeneousMatrixInverse() [2/3]
| void mrpt::math::homogeneousMatrixInverse | ( | const IN_ROTMATRIX & | in_R, |
| const IN_XYZ & | in_xyz, | ||
| OUT_ROTMATRIX & | out_R, | ||
| OUT_XYZ & | out_xyz | ||
| ) |
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 82 of file homog_matrices.h.
References ASSERT_, MRPT_END, MRPT_START, and size().
◆ homogeneousMatrixInverse() [3/3]
|
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 111 of file homog_matrices.h.
References ASSERTDEB_, and size().
◆ hypot_fast()
|
inline |
◆ isLeft()
|
inline |
Definition at line 931 of file lightweight_geom_data.cpp.
References mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.
Referenced by mrpt::math::TPolygon2D::contains().
◆ kmeans()
|
inline |
k-means algorithm to cluster a list of N points of arbitrary dimensionality into exactly K clusters.
The list of input points can be any template CONTAINER<POINT> with:
- CONTAINER can be: Any STL container: std::vector,std::list,std::deque,...
- POINT can be:
- std::vector<double/float>
- CArrayDouble<N> / CArrayFloat<N>
- Parameters
-
k [IN] Number of cluster to look for. points [IN] The list of N input points. It can be any STL-like containers of std::vector<float/double>, for example a std::vector<mrpt::math::CVectorDouble>, a std::list<CVectorFloat>, etc... assignments [OUT] At output it will have a number [0,k-1] for each of the N input points. out_centers [OUT] If not nullptr, at output will have the centers of each group. Can be of any of the supported types of "points", but the basic coordinates should be float or double exactly as in "points". attempts [IN] Number of attempts.
- See also
- A more advanced algorithm, see: kmeanspp
- Note
- Uses the kmeans++ implementation by David Arthur (2009, http://www.stanford.edu/~darthur/kmpp.zip).
Definition at line 124 of file include/mrpt/math/kmeans.h.
References mrpt::math::detail::stub_kmeans().
◆ kmeanspp()
|
inline |
k-means++ algorithm to cluster a list of N points of arbitrary dimensionality into exactly K clusters.
The list of input points can be any template CONTAINER<POINT> with:
- CONTAINER can be: Any STL container: std::vector,std::list,std::deque,...
- POINT can be:
- std::vector<double/float>
- CArrayDouble<N> / CArrayFloat<N>
- Parameters
-
k [IN] Number of cluster to look for. points [IN] The list of N input points. It can be any STL-like containers of std::vector<float/double>, for example a std::vector<mrpt::math::CVectorDouble>, a std::list<CVectorFloat>, etc... assignments [OUT] At output it will have a number [0,k-1] for each of the N input points. out_centers [OUT] If not nullptr, at output will have the centers of each group. Can be of any of the supported types of "points", but the basic coordinates should be float or double exactly as in "points". attempts [IN] Number of attempts.
- Note
- Uses the kmeans++ implementation by David Arthur (2009, http://www.stanford.edu/~darthur/kmpp.zip).
Definition at line 159 of file include/mrpt/math/kmeans.h.
References mrpt::math::detail::stub_kmeans().
Referenced by find_chessboard_corners_multiple().
◆ makect()
Copyright(C) 1997 Takuya OOURA (email: ooura@mmm.t.u-tokyo.ac.jp).
You may use, copy, modify this code for any purpose and without fee. You may distribute this ORIGINAL package.
Definition at line 447 of file math.cpp.
Referenced by rdft(), and rdft2d().
◆ makewt()
◆ maximum() [1/2]
|
inline |
Definition at line 139 of file ops_containers.h.
Referenced by averageLogLikelihood(), mrpt::poses::CPointPDFParticles::computeKurtosis(), mrpt::bayes::CParticleFilterCapable::computeResampling(), confidenceIntervals(), mrpt::hmtslam::CLocalMetricHypothesis::particlesEvaluator_AuxPFOptimal(), mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::PF_SLAM_implementation(), mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update(), mrpt::bayes::CParticleFilterCapable::prepareFastDrawSample(), weightedHistogram(), and weightedHistogramLog().
◆ maximum() [2/2]
|
inline |
Definition at line 150 of file ops_containers.h.
References ASSERT_, and mrpt::mrpt::utils::keep_max().
◆ mean()
|
inline |
Computes the mean value of a vector.
- Returns
- The mean, as a double number.
- See also
- math::stddev,math::meanAndStd
Definition at line 234 of file ops_containers.h.
References sum().
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), confidenceIntervals(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::PF_SLAM_implementation(), and mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update().
◆ meanAndCovMat()
| void mrpt::math::meanAndCovMat | ( | const MAT_IN & | v, |
| VECTOR & | out_mean, | ||
| MAT_OUT & | out_cov | ||
| ) |
Computes the mean vector and covariance from a list of samples in an NxM matrix, where each row is a sample, so the covariance is MxM.
- Parameters
-
v The set of data as a NxM matrix, of types: CMatrixTemplateNumeric or CMatrixFixedNumeric out_mean The output M-vector for the estimated mean. out_cov The output MxM matrix for the estimated covariance matrix, this can also be either a fixed-size of dynamic size matrix.
Definition at line 103 of file ops_matrices.h.
References ASSERTMSG_, and square().
Referenced by cov().
◆ meanAndCovVec()
| void mrpt::math::meanAndCovVec | ( | const VECTOR_OF_VECTOR & | v, |
| VECTORLIKE & | out_mean, | ||
| MATRIXLIKE & | out_cov | ||
| ) |
Computes the mean vector and covariance from a list of values given as a vector of vectors, where each row is a sample.
- Parameters
-
v The set of data, as a vector of N vectors of M elements. out_mean The output M-vector for the estimated mean. out_cov The output MxM matrix for the estimated covariance matrix.
Definition at line 351 of file ops_containers.h.
References ASSERTMSG_, and square().
Referenced by covVector().
◆ meanAndStd()
| void mrpt::math::meanAndStd | ( | const VECTORLIKE & | v, |
| double & | out_mean, | ||
| double & | out_std, | ||
| bool | unbiased = true |
||
| ) |
Computes the standard deviation of a vector.
- Parameters
-
v The set of data out_mean The output for the estimated mean out_std The output for the estimated standard deviation unbiased If set to true or false the std is normalized by "N-1" or "N", respectively.
- See also
- math::mean,math::stddev
Definition at line 306 of file ops_containers.h.
References square(), and sum().
Referenced by mrpt::vision::CFeature::internal_distanceBetweenPolarImages(), stddev(), and mrpt::vision::updateBaseList().
◆ minimum() [1/2]
|
inline |
Definition at line 144 of file ops_containers.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::PF_SLAM_implementation(), mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update(), weightedHistogram(), and weightedHistogramLog().
◆ minimum() [2/2]
|
inline |
Definition at line 158 of file ops_containers.h.
References ASSERT_, and mrpt::mrpt::utils::keep_min().
◆ minimum_maximum() [1/2]
|
inline |
Return the maximum and minimum values of a std::vector.
Definition at line 244 of file ops_containers.h.
References ASSERT_, mrpt::mrpt::utils::keep_max(), and mrpt::mrpt::utils::keep_min().
Referenced by adjustRange(), confidenceIntervals(), and mrpt::opengl::CPointCloud::render().
◆ minimum_maximum() [2/2]
|
inline |
Return the maximum and minimum values of a Eigen-based vector or matrix.
Definition at line 258 of file ops_containers.h.
◆ multiply_A_skew3()
| void mrpt::math::multiply_A_skew3 | ( | const MAT_A & | A, |
| const SKEW_3VECTOR & | v, | ||
| MAT_OUT & | out | ||
| ) |
Only for vectors/arrays "v" of length3, compute out = A * Skew(v), where Skew(v) is the skew symmetric matric generated from v (see mrpt::math::skew_symmetric3)
Definition at line 166 of file ops_matrices.h.
References ASSERT_EQUAL_, MRPT_END, MRPT_START, and size().
Referenced by multiply_A_skew3().
◆ multiply_HCHt()
|
inline |
◆ multiply_HCHt_scalar()
| MAT_C::Scalar mrpt::math::multiply_HCHt_scalar | ( | const VECTOR_H & | H, |
| const MAT_C & | C | ||
| ) |
r (a scalar) = H * C * H^t (with a vector H and a symmetric matrix C)
Definition at line 69 of file ops_matrices.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist(), mrpt::slam::joint_pdf_metric(), KLD_Gaussians(), mahalanobisDistance2(), mahalanobisDistance2AndLogPDF(), mrpt::poses::CPosePDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPosePDFGaussianInf::mahalanobisDistanceTo(), normalPDF(), and normalPDFInf().
◆ multiply_HtCH()
| void mrpt::math::multiply_HtCH | ( | const MAT_H & | H, |
| const MAT_C & | C, | ||
| MAT_R & | R, | ||
| bool | accumResultInOutput | ||
| ) |
◆ multiply_skew3_A()
| void mrpt::math::multiply_skew3_A | ( | const SKEW_3VECTOR & | v, |
| const MAT_A & | A, | ||
| MAT_OUT & | out | ||
| ) |
Only for vectors/arrays "v" of length3, compute out = Skew(v) * A, where Skew(v) is the skew symmetric matric generated from v (see mrpt::math::skew_symmetric3)
Definition at line 190 of file ops_matrices.h.
References ASSERT_EQUAL_, MRPT_END, MRPT_START, and size().
Referenced by multiply_skew3_A().
◆ ncc_vector()
| double mrpt::math::ncc_vector | ( | const CONT1 & | patch1, |
| const CONT2 & | patch2 | ||
| ) |
Normalised Cross Correlation between two vector patches The Matlab code for this is a = a - mean2(a); b = b - mean2(b); r = sum(sum(a.
*b))/sqrt(sum(sum(a.*a))*sum(sum(b.*b)));
Definition at line 410 of file ops_containers.h.
References ASSERT_, ASSERTMSG_, and square().
◆ norm()
|
inline |
Definition at line 134 of file ops_containers.h.
Referenced by mrpt::vision::pnp::rpnp::calcampose(), mrpt::pbmap::Plane::calcConvexHullandParams(), mrpt::nav::collision_free_dist_arc_circ_robot(), mrpt::vision::pnp::ppnp::compute_pose(), mrpt::vision::pnp::rpnp::compute_pose(), mrpt::poses::CPoses2DSequence::computeTraveledDistanceAfter(), mrpt::poses::CPoses3DSequence::computeTraveledDistanceAfter(), mrpt::pbmap::SubgraphMatcher::evalBinaryConstraints(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::pbmap::getMultiDimMeanShift_color(), mrpt::poses::CPoseInterpolatorBase< 3 >::getPreviousPoseWithMinDistance(), mrpt::pbmap::PbMapMaker::mergePlanes(), mrpt::graphslam::optimize_graph_spa_levmarq(), ransac3Dplane_distance(), mrpt::vision::pnp::p3p::solve(), TEST(), and mrpt::pbmap::PbMapMaker::watchProperties().
◆ norm_inf()
|
inline |
Definition at line 129 of file ops_containers.h.
Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), and mrpt::graphslam::optimize_graph_spa_levmarq().
◆ operator>>() [1/2]
| mrpt::utils::CStream& mrpt::math::operator>> | ( | mrpt::utils::CStream & | in, |
| CMatrixD::Ptr & | pObj | ||
| ) |
◆ operator>>() [2/2]
| mrpt::utils::CStream& mrpt::math::operator>> | ( | mrpt::utils::CStream & | in, |
| CMatrix::Ptr & | pObj | ||
| ) |
◆ ransac3Dplane_degenerate()
| bool mrpt::math::ransac3Dplane_degenerate | ( | const CMatrixTemplateNumeric< T > & | allData, |
| const mrpt::vector_size_t & | useIndices | ||
| ) |
Return "true" if the selected points are a degenerate (invalid) case.
Definition at line 94 of file ransac_applications.cpp.
References MRPT_UNUSED_PARAM.
◆ ransac3Dplane_distance()
| void mrpt::math::ransac3Dplane_distance | ( | const CMatrixTemplateNumeric< T > & | allData, |
| const vector< CMatrixTemplateNumeric< T >> & | testModels, | ||
| const T | distanceThreshold, | ||
| unsigned int & | out_bestModelIndex, | ||
| vector_size_t & | out_inlierIndices | ||
| ) |
Definition at line 60 of file ransac_applications.cpp.
References ASSERT_, mrpt::math::TPlane::coefs, and mrpt::math::TPlane::distance().
◆ ransac3Dplane_fit()
| void mrpt::math::ransac3Dplane_fit | ( | const CMatrixTemplateNumeric< T > & | allData, |
| const vector_size_t & | useIndices, | ||
| vector< CMatrixTemplateNumeric< T >> & | fitModels | ||
| ) |
Definition at line 27 of file ransac_applications.cpp.
References ASSERT_, and mrpt::math::TPlane::coefs.
◆ rdft()
◆ rdft2d()
| void mrpt::math::rdft2d | ( | int | n1, |
| int | n2, | ||
| int | isgn, | ||
| FFT_TYPE ** | a, | ||
| FFT_TYPE * | t, | ||
| int * | ip, | ||
| FFT_TYPE * | w | ||
| ) |
Copyright(C) 1997 Takuya OOURA (email: ooura@mmm.t.u-tokyo.ac.jp).
You may use, copy, modify this code for any purpose and without fee. You may distribute this ORIGINAL package.
-----— Real DFT / Inverse of Real DFT -----— [definition] <case1> RDFT R[k1][k2] = sum_j1=0^n1-1 sum_j2=0^n2-1 a[j1][j2] * cos(2*pi*j1*k1/n1 + 2*pi*j2*k2/n2), 0<=k1<n1, 0<=k2<n2 I[k1][k2] = sum_j1=0^n1-1 sum_j2=0^n2-1 a[j1][j2] * sin(2*pi*j1*k1/n1 + 2*pi*j2*k2/n2), 0<=k1<n1, 0<=k2<n2 <case2> IRDFT (excluding scale) a[k1][k2] = (1/2) * sum_j1=0^n1-1 sum_j2=0^n2-1 (R[j1][j2] * cos(2*pi*j1*k1/n1 + 2*pi*j2*k2/n2) + I[j1][j2] * sin(2*pi*j1*k1/n1 + 2*pi*j2*k2/n2)), 0<=k1<n1, 0<=k2<n2 (notes: R[n1-k1][n2-k2] = R[k1][k2], I[n1-k1][n2-k2] = -I[k1][k2], R[n1-k1][0] = R[k1][0], I[n1-k1][0] = -I[k1][0], R[0][n2-k2] = R[0][k2], I[0][n2-k2] = -I[0][k2], 0<k1<n1, 0<k2<n2) [usage] <case1> ip[0] = 0; // first time only rdft2d(n1, n2, 1, a, t, ip, w); <case2> ip[0] = 0; // first time only rdft2d(n1, n2, -1, a, t, ip, w); [parameters] n1 :data length (int) n1 >= 2, n1 = power of 2 n2 :data length (int) n2 >= 2, n2 = power of 2 a[0...n1-1][0...n2-1] :input/output data (FFT_TYPE **) <case1> output data a[k1][2*k2] = R[k1][k2] = R[n1-k1][n2-k2], a[k1][2*k2+1] = I[k1][k2] = -I[n1-k1][n2-k2], 0<k1<n1, 0<k2<n2/2, a[0][2*k2] = R[0][k2] = R[0][n2-k2], a[0][2*k2+1] = I[0][k2] = -I[0][n2-k2], 0<k2<n2/2, a[k1][0] = R[k1][0] = R[n1-k1][0], a[k1][1] = I[k1][0] = -I[n1-k1][0], a[n1-k1][1] = R[k1][n2/2] = R[n1-k1][n2/2], a[n1-k1][0] = -I[k1][n2/2] = I[n1-k1][n2/2], 0<k1<n1/2, a[0][0] = R[0][0], a[0][1] = R[0][n2/2], a[n1/2][0] = R[n1/2][0], a[n1/2][1] = R[n1/2][n2/2] <case2> input data a[j1][2*j2] = R[j1][j2] = R[n1-j1][n2-j2], a[j1][2*j2+1] = I[j1][j2] = -I[n1-j1][n2-j2], 0<j1<n1, 0<j2<n2/2, a[0][2*j2] = R[0][j2] = R[0][n2-j2], a[0][2*j2+1] = I[0][j2] = -I[0][n2-j2], 0<j2<n2/2, a[j1][0] = R[j1][0] = R[n1-j1][0], a[j1][1] = I[j1][0] = -I[n1-j1][0], a[n1-j1][1] = R[j1][n2/2] = R[n1-j1][n2/2], a[n1-j1][0] = -I[j1][n2/2] = I[n1-j1][n2/2], 0<j1<n1/2, a[0][0] = R[0][0], a[0][1] = R[0][n2/2], a[n1/2][0] = R[n1/2][0], a[n1/2][1] = R[n1/2][n2/2] t[0...2*n1-1] :work area (FFT_TYPE *) ip[0...*] :work area for bit reversal (int *) length of ip >= 2+sqrt(n) ; if n % 4 == 0 2+sqrt(n/2); otherwise (n = max(n1, n2/2)) ip[0],ip[1] are pointers of the cos/sin table. w[0...*] :cos/sin table (FFT_TYPE *) length of w >= max(n1/2, n2/4) + n2/4 w[],ip[] are initialized if ip[0] == 0. [remark] Inverse of rdft2d(n1, n2, 1, a, t, ip, w); is rdft2d(n1, n2, -1, a, t, ip, w); for (j1 = 0; j1 <= n1 - 1; j1++) { for (j2 = 0; j2 <= n2 - 1; j2++) { a[j1][j2] *= 2.0 / (n1 * n2); } }
Definition at line 793 of file math.cpp.
References cdft(), makect(), makewt(), and rdft().
Referenced by dft2_real(), and idft2_real().
◆ realft()
| void mrpt::math::realft | ( | float | data[], |
| unsigned long | n | ||
| ) |
Definition at line 114 of file math.cpp.
References four1().
Referenced by fft_real().
◆ removeRepVertices()
|
inline |
Definition at line 869 of file lightweight_geom_data.cpp.
References distance(), and getEpsilon().
Referenced by mrpt::math::TPolygon2D::removeRepeatedVertices(), and mrpt::math::TPolygon3D::removeRepeatedVertices().
◆ removeUnusedVertices()
|
inline |
Definition at line 837 of file lightweight_geom_data.cpp.
References distance(), and getEpsilon().
Referenced by mrpt::math::TPolygon2D::removeRedundantVertices(), and mrpt::math::TPolygon3D::removeRedundantVertices().
◆ resizeLike() [1/2]
| void mrpt::math::resizeLike | ( | EIGEN_CONTAINER & | trg, |
| const EIGEN_CONTAINER & | src | ||
| ) |
Definition at line 84 of file ops_containers.h.
Referenced by cumsum_tmpl().
◆ resizeLike() [2/2]
| void mrpt::math::resizeLike | ( | std::vector< T > & | trg, |
| const std::vector< T > & | src | ||
| ) |
Definition at line 89 of file ops_containers.h.
◆ rftbsub()
◆ rftfsub()
◆ size()
|
inline |
Returns the size of the matrix in the i'th dimension: 1=rows, 2=columns (MATLAB-compatible function)
- Note
- Template argument MATRIXLIKE can be: mrpt::math::CMatrixTemplate, mrpt::math::CMatrixTemplateNumeric, mrpt::math::CMatrixFixedNumeric
Definition at line 41 of file bits.h.
References THROW_EXCEPTION_FMT.
Referenced by mrpt::math::TPolygon2D::contains(), mrpt::math::TPolygon2D::getAsSegmentList(), mrpt::math::TPolygon3D::getAsSegmentList(), mrpt::math::TPolygon2D::getBoundingBox(), mrpt::math::TPolygon2D::getCenter(), mrpt::math::TPolygon3D::getCenter(), mrpt::math::TPolygon2D::getPlotData(), homogeneousMatrixInverse(), mrpt::math::TPolygon2D::isConvex(), KLD_Gaussians(), mahalanobisDistance2(), multiply_A_skew3(), multiply_skew3_A(), and normalPDFInf().
◆ square()
|
inline |
Inline function for the square of a number.
Definition at line 55 of file bits.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::opengl::CPolyhedron::TPolyhedronFace::area(), mrpt::poses::CPosePDFGaussian::assureMinCovariance(), aux_projectPoint_with_distortion(), mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist(), mrpt::poses::CPointPDFSOG::bayesianFusion(), mrpt::maps::CGasConcentrationGridMap2D::build_Gaussian_Wind_Grid(), mrpt::vision::CDifodo::calculateDepthDerivatives(), mrpt::vision::checkerBoardCameraCalibration(), mrpt::maps::CPointsMap::clipOutOfRange(), closestSquareDistanceFromPointToLine(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), mrpt::nav::collision_free_dist_segment_circ_robot(), mrpt::poses::CPose3DQuat::composePoint(), mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::COccupancyGridMap2D::computeClearance(), mrpt::maps::CRandomFieldGridMap2D::computeConfidenceCellValue_DM_DMV(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian(), mrpt::poses::CPointPDFParticles::computeKurtosis(), mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_II(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_Thrun(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::maps::CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_rayTracing(), mrpt::nav::PlannerSimple2D::computePath(), mrpt::maps::COccupancyGridMap2D::computePathCost(), mrpt::maps::CRandomFieldGridMap2D::computeVarCellValue_DM_DMV(), mrpt::vision::CDifodo::computeWeights(), mrpt::obs::detail::cost_func(), mrpt::opengl::CPolyhedron::CreateIcosahedron(), mrpt::opengl::CPolyhedron::CreateJohnsonSolidWithConstantBase(), mrpt::opengl::CPolyhedron::CreateRhombicuboctahedron(), cross_correlation_FFT(), mrpt::utils::CImage::cross_correlation_FFT(), mrpt::vision::CFeature::descriptorBLDDistanceTo(), mrpt::vision::CFeature::descriptorLATCHDistanceTo(), mrpt::vision::CFeature::descriptorSIFTDistanceTo(), mrpt::vision::CFeature::descriptorSpinImgDistanceTo(), mrpt::vision::CFeature::descriptorSURFDistanceTo(), mrpt::maps::CPointsMap::determineMatching2D(), mrpt::maps::COccupancyGridMap2D::determineMatching2D(), mrpt::maps::CPointsMap::determineMatching3D(), mrpt::poses::CPose2D::distance2DFrobeniusTo(), mrpt::poses::CPoseOrPoint< CPoint3D >::distance2DToSquare(), mrpt::poses::CPoseOrPoint< CPoint3D >::distance3DToSquare(), mrpt::poses::CPose3D::distanceEuclidean6D(), distanceSqrBetweenPoints(), mrpt::math::TPoint3D::distanceTo(), mrpt::vision::CCamModel::distort_a_point(), mrpt::poses::dVinvt_dR(), mrpt::bayes::CParticleFilterDataImpl< mrpt::bayes::CParticleFilterData< CLSLAMParticleData >, mrpt::bayes::CParticleFilterData< CLSLAMParticleData >::CParticleList >::ESS(), mrpt::poses::CPointPDFSOG::ESS(), mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CHolonomicND::evaluateGaps(), mrpt::bayes::CParticleFilter::executeOn(), mrpt::maps::CPointsMap::extractCylinder(), fft_real(), mrpt::maps::CPointCloudFilterByDistance::filter(), mrpt::vision::filterBadCorrsByDistance(), mrpt::vision::frameJac(), mrpt::maps::CPointsMap::fuseWith(), generateAxisBaseFromDirection(), mrpt::maps::CBeacon::generateRingSOG(), mrpt::topography::geodeticToGeocentric(), mrpt::topography::geodeticToGeocentric_WGS84(), mrpt::topography::GeodeticToUTM(), getAngleBisector(), mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean(), mrpt::poses::CPointPDFParticles::getCovarianceAndMean(), mrpt::poses::CPosePDFParticles::getCovarianceAndMean(), mrpt::vision::getDispersion(), mrpt::opengl::CPolyhedron::getDual(), mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullJacobianT(), getHeight(), mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::getLargestDistanceFromOrigin(), mrpt::maps::CPointsMap::getLargestDistanceFromOrigin(), mrpt::vision::CCamModel::getTemporaryVariablesForTransform(), mrpt::poses::CPose3D::getYawPitchRoll(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), insertCupola(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KernelDM_DMV(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::internal_clear(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::maps::CReflectivityGridMap2D::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), mrpt::vision::CFeatureExtraction::internal_computeSpinImageDescriptors(), mrpt::maps::CLandmarksMap::internal_CreateFromMapDefinition(), mrpt::vision::CFeature::internal_distanceBetweenPolarImages(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::vision::CGenericFeatureTracker::internal_trackFeatures(), mrpt::poses::CPose3DQuat::inverseComposePoint(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::inverseMap_WS2TP(), mrpt::vision::CCamModel::jacob_undistor(), mrpt::vision::CCamModel::jacobian_project_with_distortion(), mrpt::vision::CCamModel::jacobian_unproject_with_distortion(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::utils::CCanvas::line(), mrpt::poses::CPose3D::ln_jacob(), mrpt::math::CQuaternion< T >::ln_noresize(), mrpt::poses::CPose3D::ln_rot_jacob(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), mrpt::vision::matchMultiResolutionFeatures(), meanAndCovMat(), meanAndCovVec(), meanAndStd(), meanAndStd(), meanAndStdAll(), minDistBetweenLines(), minimumDistanceFromPointToSegment(), ncc_vector(), noncentralChi2CDF(), mrpt::math::TPoint2D::norm(), mrpt::poses::CPoseOrPoint< CPoint3D >::norm(), mrpt::math::TPoint3D::norm(), mrpt::math::TPose3D::norm(), mrpt::math::TPose3DQuat::norm(), normalize(), normalPDF(), mrpt::math::CQuaternion< T >::normSqr(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationNoise(), mrpt::slam::CRangeBearingKFSLAM::OnGetObservationNoise(), mrpt::slam::CRangeBearingKFSLAM::OnNormalizeStateVector(), mrpt::slam::CRangeBearingKFSLAM2D::OnObservationJacobians(), mrpt::slam::CRangeBearingKFSLAM2D::OnObservationModel(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionNoise(), mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise(), mrpt::graphslam::optimize_graph_spa_levmarq(), mrpt::topography::path_from_rtk_gps(), mrpt::vision::CDifodo::performWarping(), mrpt::vision::pointJac(), mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::poses::CPoint2DPDFGaussian::productIntegralNormalizedWith(), mrpt::poses::CPointPDFGaussian::productIntegralNormalizedWith(), mrpt::poses::CPointPDFGaussian::productIntegralNormalizedWith2D(), mrpt::vision::CCamModel::project_3D_point(), project_point(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::pinhole::projectPoint_with_distortion(), mrpt::vision::pinhole::projectPoints_with_distortion(), mrpt::nav::CPTG_DiffDrive_CC::PTG_IsIntoDomain(), mrpt::nav::CPTG_DiffDrive_CCS::PTG_IsIntoDomain(), mrpt::nav::CPTG_DiffDrive_CS::PTG_IsIntoDomain(), mrpt::nav::CPTG_DiffDrive_CS::ptgDiffDriveSteeringFunction(), mrpt::nav::CPTG_DiffDrive_alpha::ptgDiffDriveSteeringFunction(), quickSolveEqn(), ransac_data_assoc_run(), mrpt::obs::CObservation3DRangeScan::recoverCameraCalibrationParameters(), mrpt::opengl::CArrow::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), reprojectionResidualsElement(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_observationLikelihood(), mrpt::maps::CBeaconMap::saveToTextFile(), mrpt::tfest::se2_l2(), mrpt::tfest::se2_l2_robust(), se3_l2_internal(), mrpt::tfest::se3_l2_robust(), mrpt::maps::CRandomFieldGridMap2D::setMeanAndSTD(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams(), mrpt::math::TSegment2D::signedDistance(), mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection(), mrpt::nav::CPTG_DiffDrive_CollisionGridBased::simulateTrajectories(), slerp(), solveEqn(), mrpt::poses::CPose3DQuat::sphericalCoordinates(), mrpt::poses::CPoseOrPoint< CPoint3D >::sqrDistanceTo(), mrpt::math::TPoint3D::sqrDistanceTo(), mrpt::maps::CPointsMap::squareDistanceToClosestCorrespondence(), mrpt::utils::TMatchingPairList::squareErrorVector(), squareNorm(), mrpt::vision::StereoObs2BRObs(), mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan(), TEST(), Pose3DQuatTests::test_invComposePointJacob(), mrpt::opengl::CCylinder::traceRay(), mrpt::opengl::CEllipsoid::traceRay(), mrpt::vision::detail::trackFeatures_addNewFeats< CFeatureList >(), mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures(), mrpt::vision::CCamModel::unproject_3D_point(), and mrpt::topography::UTMToGeodetic().
◆ squareNorm()
|
inline |
Compute the square norm of anything implementing [].
- See also
- norm
Definition at line 181 of file ops_containers.h.
References square().
◆ squareNorm_accum()
| VALUE mrpt::math::squareNorm_accum | ( | const VALUE | total, |
| const CONTAINER & | v | ||
| ) |
Accumulate the squared-norm of a vector/array/matrix into "total" (this function is compatible with std::accumulate).
Definition at line 173 of file ops_containers.h.
◆ stddev()
|
inline |
Computes the standard deviation of a vector.
- Parameters
-
v The set of data unbiased If set to true or false the std is normalized by "N-1" or "N", respectively.
- See also
- math::mean,math::meanAndStd
Definition at line 336 of file ops_containers.h.
References meanAndStd().
Referenced by mrpt::pbmap::getHistogramMeanShift().
◆ sum() [1/2]
|
inline |
Computes the sum of all the elements.
- Note
- If used with containers of integer types (uint8_t, int, etc...) this could overflow. In those cases, use sumRetType the second argument RET to specify a larger type to hold the sum.
- See also
- cumsum
Definition at line 211 of file ops_containers.h.
Referenced by mrpt::vision::CDifodo::buildCoordinatesPyramid(), mrpt::vision::CDifodo::buildCoordinatesPyramidFast(), Pose3DTests::check_jacob_LnT_T(), mrpt::detectors::CFaceDetection::checkIfFaceRegions(), mrpt::vision::computeHistogramOfOrientations(), mrpt::slam::CRangeBearingKFSLAM::computeOffDiagonalBlocksApproximationError(), mrpt::nav::CHolonomicND::evaluateGaps(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::pbmap::getHistogramMeanShift(), mrpt::pbmap::getMultiDimMeanShift_color(), mrpt::graphslam::detail::CEdgeCounter::getTotalNumOfEdges(), mrpt::slam::CICP::ICP_Method_LM(), mrpt::vision::pnp::p3p::jacobi_4x4(), mean(), meanAndStd(), meanAndStd(), meanAndStdAll(), noncentralChi2PDF_CDF(), mrpt::utils::TMatchingPairList::overallSquareError(), mrpt::utils::TMatchingPairList::overallSquareErrorAndPoints(), mrpt::vision::reprojectionResiduals(), reprojectionResidualsElement(), run_test_so3_avrg(), mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration(), TEST(), Pose3DQuatTests::test_composePointJacob(), Pose3DTests::test_composePointJacob(), Pose3DTests::test_composePointJacob_se3(), QuaternionTests::test_ExpAndLnMatches(), TEST_F(), QuaternionTests::test_gimbalLock(), Pose3DQuatTests::test_invComposePointJacob(), Pose3DTests::test_invComposePointJacob(), Pose3DTests::test_invComposePointJacob_se3(), Pose3DTests::test_inverse(), SE_traits_tests< POSE_TYPE >::test_jacobs_P1DP2inv(), QuaternionTests::test_lnAndExpMatches(), Pose3DQuatTests::test_normalizeJacob(), Pose3DQuatTests::test_sphericalCoords(), Pose3DQuatPDFGaussTests::testCompositionJacobian(), Pose3DPDFGaussTests::testCompositionJacobian(), and mrpt::graphs::ScalarFactorGraph::updateEstimation().
◆ sum() [2/2]
|
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 218 of file ops_containers.h.
◆ sumRetType()
|
inline |
Computes the sum of all the elements, with a custom return type.
Definition at line 226 of file ops_containers.h.