Detailed Description
Math C++ library: vectors and matrices, probability distributions, statistics, geometry, etc.
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Library <tt>mrpt-math</tt>
[New in MRPT 2.0.0]
This library is part of MRPT and can be installed in Debian-based systems with:
sudo apt install libmrpt-math-dev
Main classes and concepts associated with this library:
Lightweight geometry entities: Write me!
Comparison: lightweight vs. {CPose*, CPoint*}: (Move to a new doc page?)
- Both can be serialized, but CPose* are CSerializable-based.
- CPose* require aligned memory (they hold Eigen containers).
- CPose* include a cache for precomputed cos/sin values, so they are preferable when doing many pose (+) point compositions.
- Lightweight containers can be constexpr constructed, CPose* cannot.
Collaboration diagram for [mrpt-math]:
Classes | |
| class | mrpt::math::CAtan2LookUpTable |
| A look-up-table (LUT) of atan values for any (x,y) value in a square/rectangular grid of predefined resolution. More... | |
| class | mrpt::math::CAtan2LookUpTableMultiRes |
| Like CAtan2LookUpTable but with a multiresolution grid for increasingly better accuracy in points nearer to the origin. More... | |
| class | mrpt::math::CBinaryRelation< T, U, UIsObject > |
| This class models a binary relation through the elements of any given set. More... | |
| class | mrpt::math::CHistogram |
| This class provides an easy way of computing histograms for unidimensional real valued variables. More... | |
| class | mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM > |
| An implementation of the Levenberg-Marquardt algorithm for least-square minimization. More... | |
| class | mrpt::math::CMatrix |
| This class is a "CSerializable" wrapper for "CMatrixFloat". More... | |
| class | mrpt::math::CMatrixB |
| This class is a "CSerializable" wrapper for "CMatrixBool". More... | |
| class | mrpt::math::CMatrixD |
| This class is a "CSerializable" wrapper for "CMatrixTemplateNumeric<double>". More... | |
| class | mrpt::math::CMatrixFixedNumeric< T, NROWS, NCOLS > |
| A numeric matrix of compile-time fixed size. More... | |
| class | mrpt::math::CMatrixTemplate< T > |
| This template class provides the basic functionality for a general 2D any-size, resizable container of numerical or non-numerical elements. More... | |
| class | mrpt::math::CMatrixTemplateNumeric< T > |
| A matrix of dynamic size. More... | |
| class | mrpt::math::CMatrixTemplateObjects< T > |
| This template class extends the class "CMatrixTemplate" for storing "objects" at each matrix entry. More... | |
| class | mrpt::math::CMonteCarlo< T, NUM, OTHER > |
| Montecarlo simulation for experiments in 1D. More... | |
| class | mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN > |
| A generic template for probability density distributions (PDFs). More... | |
| class | mrpt::math::CQuaternion< T > |
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 | mrpt::math::CSparseMatrix |
| A sparse matrix structure, wrapping T. More... | |
| class | mrpt::math::CSparseMatrixTemplate< T > |
| A sparse matrix container (with cells of any type), with iterators. More... | |
| class | mrpt::math::KDTreeCapable< Derived, num_t, metric_t > |
A generic adaptor class for providing Nearest Neighbor (NN) lookup via the nanoflann library. More... | |
| struct | mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL > |
| A templated column-indexed efficient storage of block-sparse Jacobian or Hessian matrices, together with other arbitrary information. More... | |
| struct | mrpt::math::RobustKernel< KERNEL_TYPE, T > |
| struct | mrpt::math::RobustKernel< rkLeastSquares, T > |
| No robust kernel, use standard least squares: rho(r) = r^2. More... | |
| struct | mrpt::math::RobustKernel< rkPseudoHuber, T > |
| Pseudo-huber robust kernel: rho(r) = 2 * delta^2 * ( -1+sqrt( 1+ r^2/delta^2 ) ) More... | |
Namespaces | |
| mrpt::math | |
| This base provides a set of functions for maths stuff. | |
Enumerations | |
| enum | mrpt::math::TRobustKernelType { mrpt::math::rkLeastSquares = 0, mrpt::math::rkPseudoHuber } |
| The different types of kernels for usage within a robustified least-squares estimator. More... | |
Enumeration Type Documentation
◆ TRobustKernelType
The different types of kernels for usage within a robustified least-squares estimator.
- See also
- Use these types as arguments of the template RobustKernel<>
| Enumerator | |
|---|---|
| rkLeastSquares | No robust kernel, use standard least squares: rho(r)= 1/2 * r^2. |
| rkPseudoHuber | Pseudo-huber robust kernel. |
Definition at line 25 of file robust_kernels.h.