MRPT  1.9.9
CMatrixFixed_impl.h
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9 #pragma once
10 
11 #include <mrpt/math/CMatrixFixed.h>
12 #include <Eigen/Dense>
13 
14 namespace mrpt::math
15 {
16 template <typename T, std::size_t ROWS, std::size_t COLS>
18 {
19  CMatrixFixed<float, ROWS, COLS> r(rows(), cols());
20  r.asEigen() = asEigen().template cast<float>();
21  return r;
22 }
23 
24 template <typename T, std::size_t ROWS, std::size_t COLS>
26  const
27 {
28  CMatrixFixed<double, ROWS, COLS> r(rows(), cols());
29  r.asEigen() = asEigen().template cast<double>();
30  return r;
31 }
32 
33 template <typename T, std::size_t ROWS, std::size_t COLS>
35  const CMatrixFixed<T, ROWS, 1>& b) const
36 {
37  if constexpr (ROWS == COLS)
38  {
39  auto ret = CMatrixFixed<T, ROWS, 1>(asEigen().llt().solve(b.asEigen()));
40  return ret;
41  }
42  else
43  {
44  throw std::invalid_argument(
45  "llt_solve(): only available for square matrices.");
46  }
47 }
48 template <typename T, std::size_t ROWS, std::size_t COLS>
50  const CMatrixFixed<T, ROWS, 1>& b) const
51 {
52  if constexpr (ROWS == COLS)
53  {
54  auto ret = CMatrixFixed<T, ROWS, 1>(asEigen().lu().solve(b.asEigen()));
55  return ret;
56  }
57  else
58  {
59  throw std::invalid_argument(
60  "lu_solve(): only available for square matrices.");
61  }
62 }
63 
64 } // namespace mrpt::math
A compile-time fixed-size numeric matrix container.
Definition: CMatrixFixed.h:33
CMatrixFixed< T, ROWS, 1 > llt_solve(const CMatrixFixed< T, ROWS, 1 > &b) const
Solves the linear system Ax=b, returns x, with A this symmetric matrix.
This base provides a set of functions for maths stuff.
CMatrixFixed< T, ROWS, 1 > lu_solve(const CMatrixFixed< T, ROWS, 1 > &b) const
Solves the linear system Ax=b, returns x, with A this asymmetric matrix.
GLubyte GLubyte b
Definition: glext.h:6372
GLdouble GLdouble GLdouble r
Definition: glext.h:3711
CMatrixFixed< float, ROWS, COLS > cast_float() const
CMatrixFixed< double, ROWS, COLS > cast_double() const



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