Detailed Description

This base provides a set of functions for maths stuff.

mrpt_math_grp

Namespaces
	detail

Classes
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	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...

struct	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	CProbabilityDensityFunction
	A generic template for probability density distributions (PDFs). More...

class	CQuaternion
	A quaternion, which can represent a 3D rotation as pair $(r,\mathbf{u}) *$ , with a real part "r" and a 3D vector $\mathbf{u} = (x,y,z)$ , 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	TPoseOrPoint
	Base type of all TPoseXX and TPointXX classes in mrpt::math. 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
template<std::size_t N>
using	CArrayFloat = CArrayNumeric< float, N >
	A partial specialization of CArrayNumeric for float numbers. More...

template<std::size_t N>
using	CArrayDouble = CArrayNumeric< double, N >
	A partial specialization of CArrayNumeric for double numbers. More...

template<std::size_t N>
using	CArrayInt = CArrayNumeric< int, N >
	A partial specialization of CArrayNumeric for int numbers. More...

template<std::size_t N>
using	CArrayUInt = CArrayNumeric< unsigned int, N >
	A partial specialization of CArrayNumeric for unsigned int numbers. More...

using	CLevenbergMarquardt = CLevenbergMarquardtTempl< mrpt::math::CVectorDouble >
	The default name for the LM class is an instantiation for "double". More...

using	CMatrixFloat = CMatrixTemplateNumeric< float >
	Declares a matrix of float numbers (non serializable). More...

using	CMatrixDouble = CMatrixTemplateNumeric< double >
	Declares a matrix of double numbers (non serializable). More...

using	CMatrixUInt = CMatrixTemplateNumeric< unsigned int >
	Declares a matrix of unsigned ints (non serializable). More...

using	CMatrixLongDouble = CMatrixTemplateNumeric< double >
	Declares a matrix of "long doubles" (non serializable), or of "doubles" if the compiler does not support "long double". More...

using	CQuaternionDouble = CQuaternion< double >
	A quaternion of data type "double". More...

using	CQuaternionFloat = CQuaternion< float >
	A quaternion of data type "float". More...

using	CVectorFloat = dynamic_vector< float >
	Column vector, like Eigen::MatrixXf, but automatically initialized to zeros since construction. More...

using	CVectorDouble = dynamic_vector< double >
	Column vector, like Eigen::MatrixXd, but automatically initialized to zeros since construction. More...

using	TPlane3D = TPlane

using	RANSAC = RANSAC_Template< double >
	The default instance of RANSAC, for double type. More...

using	FFT_TYPE = float
	Copyright(C) 1997 Takuya OOURA (email: ooura.nosp@m.@mmm.nosp@m..t.u-.nosp@m.toky.nosp@m.o.ac..nosp@m.jp). More...

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
template<class MATRIXLIKE >
size_t	size (const MATRIXLIKE &m, const int dim)

mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, CMatrix::Ptr &pObj)

mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &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...

long double	lfresnel_sin_integral (long double x) noexcept
	long double version of fresnel_sin_integral More...

long double	lfresnel_cos_integral (long double x) noexcept
	long double version of fresnel_cos_integral 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)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

template<class MATRIXLIKE >
void	homogeneousMatrixInverse (MATRIXLIKE &M)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

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...

TPose3D	operator- (const TPose3D &p)
	Unary $\ominus$ operator: computes inverse SE(3) element. More...

TPose3D	operator- (const TPose3D &b, const TPose3D &a)
	Binary $\ominus$ operator: $b \ominus a$ computes the relative SE(3) pose of `b` "as seen from" `a` 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)

constexpr TPoint3D	operator- (const TPoint3D &p1)
	Unary minus operator for 3D points. More...

constexpr bool	operator== (const TPoint2D &p1, const TPoint2D &p2)
	Exact comparison between 2D points. More...

constexpr bool	operator!= (const TPoint2D &p1, const TPoint2D &p2)
	Exact comparison between 2D points. More...

constexpr bool	operator== (const TPoint3D &p1, const TPoint3D &p2)
	Exact comparison between 3D points. More...

constexpr 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)

template<class PoseOrPoint , typename = std::enable_if_t<std::is_base_of< mrpt::math::TPoseOrPoint, PoseOrPoint>::value>>
mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, PoseOrPoint &o)

template<class PoseOrPoint , typename = std::enable_if_t<std::is_base_of< mrpt::math::TPoseOrPoint, PoseOrPoint>::value>>
mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const PoseOrPoint &o)

mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, mrpt::math::TSegment2D &s)

mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const mrpt::math::TSegment2D &s)

mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, mrpt::math::TLine2D &l)

mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const mrpt::math::TLine2D &l)

mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, mrpt::math::TObject2D &o)

mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const mrpt::math::TObject2D &o)

mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, mrpt::math::TSegment3D &s)

mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const mrpt::math::TSegment3D &s)

mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, mrpt::math::TLine3D &l)

mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const mrpt::math::TLine3D &l)

mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, mrpt::math::TPlane &p)

mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const mrpt::math::TPlane &p)

mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, mrpt::math::TObject3D &o)

mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const mrpt::math::TObject3D &o)

mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, mrpt::math::TTwist2D &o)

mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const mrpt::math::TTwist2D &o)

mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, mrpt::math::TTwist3D &o)

mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &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::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &ostrm, const CArrayNumeric< T, N > &a)
	Binary dump of a CArrayNumeric<T,N> to a stream. More...

template<typename T , size_t N>
mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &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 + ax^2 + bx + c = 0`. More...

int	solve_poly4 (double *x, double a, double b, double c, double d) noexcept
	Solves quartic equation `x^4 + ax^3 + bx^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 + ax^4 + bx^3 + cx^2 + dx + 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 + bx^2 + cx + d = 0. More...

int	solve_poly2 (double a, double b, double c, double &r1, double &r2) noexcept
	Solves equation `ax^2 + bx + 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, mrpt::aligned_std_vector< VECTORLIKE3 > 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...

mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &s, const mrpt::math::CVectorFloat &a)

mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &s, const mrpt::math::CVectorDouble &a)

mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, mrpt::math::CVectorDouble &a)

mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, mrpt::math::CVectorFloat &a)

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 (std::istream &f, std::vector< int > &d)
	Loads one row of a text file as a numerical std::vector. More...

bool	loadVector (std::istream &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...

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

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...

static void	four1 (float data[], unsigned long nn, int isign)

static void	realft (float data[], unsigned long n)

static void	makewt (int nw, int ip, FFT_TYPE w)

static void	bitrv2 (int n, int ip, FFT_TYPE a)
	Copyright(C) 1997 Takuya OOURA (email: ooura.nosp@m.@mmm.nosp@m..t.u-.nosp@m.toky.nosp@m.o.ac..nosp@m.jp). More...

static void	cftbsub (int n, FFT_TYPE a, FFT_TYPE w)

static void	cftfsub (int n, FFT_TYPE a, FFT_TYPE w)

static void	rftfsub (int n, FFT_TYPE a, int nc, FFT_TYPE c)

static void	rftbsub (int n, FFT_TYPE a, int nc, FFT_TYPE c)

static void	makect (int nc, int ip, FFT_TYPE c)
	Copyright(C) 1997 Takuya OOURA (email: ooura.nosp@m.@mmm.nosp@m..t.u-.nosp@m.toky.nosp@m.o.ac..nosp@m.jp). More...

static void	cdft (int n, int isgn, FFT_TYPE a, int ip, FFT_TYPE *w)
	Copyright(C) 1997 Takuya OOURA (email: ooura.nosp@m.@mmm.nosp@m..t.u-.nosp@m.toky.nosp@m.o.ac..nosp@m.jp). More...

static void	rdft (int n, int isgn, FFT_TYPE a, int ip, FFT_TYPE *w)

static void	rdft2d (int n1, int n2, int isgn, FFT_TYPE *a, FFT_TYPE t, int ip, FFT_TYPE w)

static void	cdft2d (int n1, int n2, int isgn, FFT_TYPE *a, FFT_TYPE t, int ip, FFT_TYPE w)

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)

template<typename T >
void	ransac3Dplane_fit (const CMatrixTemplateNumeric< T > &allData, const std::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, std::vector< size_t > &out_inlierIndices)

template<typename T >
bool	ransac3Dplane_degenerate (const CMatrixTemplateNumeric< T > &allData, const std::vector< size_t > &useIndices)
	Return "true" if the selected points are a degenerate (invalid) case. More...

Variables
static constexpr unsigned char	GEOMETRIC_TYPE_POINT = 0
	Object type identifier for TPoint2D or TPoint3D. More...

static constexpr unsigned char	GEOMETRIC_TYPE_SEGMENT = 1
	Object type identifier for TSegment2D or TSegment3D. More...

static constexpr unsigned char	GEOMETRIC_TYPE_LINE = 2
	Object type identifier for TLine2D or TLine3D. More...

static constexpr unsigned char	GEOMETRIC_TYPE_POLYGON = 3
	Object type identifier for TPolygon2D or TPolygon3D. More...

static constexpr unsigned char	GEOMETRIC_TYPE_PLANE = 4
	Object type identifier for TPlane. More...

static constexpr unsigned char	GEOMETRIC_TYPE_UNDEFINED = 255
	Object type identifier for empty TObject2D or TObject3D. More...

Typedef Documentation

◆ CArrayDouble

template<std::size_t N>

using mrpt::math::CArrayDouble = typedef CArrayNumeric<double, N>

A partial specialization of CArrayNumeric for double numbers.

See also: CArrayNumeric, CArray

Definition at line 64 of file CArrayNumeric.h.

◆ CArrayFloat

template<std::size_t N>

using mrpt::math::CArrayFloat = typedef CArrayNumeric<float, N>

A partial specialization of CArrayNumeric for float numbers.

See also: CArrayNumeric, CArray

Definition at line 59 of file CArrayNumeric.h.

◆ CArrayInt

template<std::size_t N>

using mrpt::math::CArrayInt = typedef CArrayNumeric<int, N>

A partial specialization of CArrayNumeric for int numbers.

See also: CArrayNumeric, CArray

Definition at line 69 of file CArrayNumeric.h.

◆ CArrayUInt

template<std::size_t N>

using mrpt::math::CArrayUInt = typedef CArrayNumeric<unsigned int, N>

A partial specialization of CArrayNumeric for unsigned int numbers.

See also: CArrayNumeric, CArray

Definition at line 74 of file CArrayNumeric.h.

◆ CLevenbergMarquardt

using mrpt::math::CLevenbergMarquardt = typedef CLevenbergMarquardtTempl<mrpt::math::CVectorDouble>

The default name for the LM class is an instantiation for "double".

Definition at line 260 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 144 of file CMatrixTemplateNumeric.h.

◆ CMatrixDouble12

using mrpt::math::CMatrixDouble12 = typedef CMatrixFixedNumeric<double, 1, 2>

Definition at line 63 of file eigen_frwds.h.

◆ CMatrixDouble13

using mrpt::math::CMatrixDouble13 = typedef CMatrixFixedNumeric<double, 1, 3>

Definition at line 61 of file eigen_frwds.h.

◆ CMatrixDouble15

using mrpt::math::CMatrixDouble15 = typedef CMatrixFixedNumeric<double, 1, 5>

Definition at line 70 of file eigen_frwds.h.

◆ CMatrixDouble16

using mrpt::math::CMatrixDouble16 = typedef CMatrixFixedNumeric<double, 1, 6>

Definition at line 66 of file eigen_frwds.h.

◆ CMatrixDouble17

using mrpt::math::CMatrixDouble17 = typedef CMatrixFixedNumeric<double, 1, 7>

Definition at line 68 of file eigen_frwds.h.

◆ CMatrixDouble21

using mrpt::math::CMatrixDouble21 = typedef CMatrixFixedNumeric<double, 2, 1>

Definition at line 64 of file eigen_frwds.h.

◆ CMatrixDouble22

using mrpt::math::CMatrixDouble22 = typedef CMatrixFixedNumeric<double, 2, 2>

Definition at line 54 of file eigen_frwds.h.

◆ CMatrixDouble23

using mrpt::math::CMatrixDouble23 = typedef CMatrixFixedNumeric<double, 2, 3>

Definition at line 55 of file eigen_frwds.h.

◆ CMatrixDouble31

using mrpt::math::CMatrixDouble31 = typedef CMatrixFixedNumeric<double, 3, 1>

Definition at line 62 of file eigen_frwds.h.

◆ CMatrixDouble32

using mrpt::math::CMatrixDouble32 = typedef CMatrixFixedNumeric<double, 3, 2>

Definition at line 56 of file eigen_frwds.h.

◆ CMatrixDouble33

using mrpt::math::CMatrixDouble33 = typedef CMatrixFixedNumeric<double, 3, 3>

Definition at line 57 of file eigen_frwds.h.

◆ CMatrixDouble41

using mrpt::math::CMatrixDouble41 = typedef CMatrixFixedNumeric<double, 4, 1>

Definition at line 71 of file eigen_frwds.h.

◆ CMatrixDouble44

using mrpt::math::CMatrixDouble44 = typedef CMatrixFixedNumeric<double, 4, 4>

Definition at line 58 of file eigen_frwds.h.

◆ CMatrixDouble51

using mrpt::math::CMatrixDouble51 = typedef CMatrixFixedNumeric<double, 5, 1>

Definition at line 69 of file eigen_frwds.h.

◆ CMatrixDouble61

using mrpt::math::CMatrixDouble61 = typedef CMatrixFixedNumeric<double, 6, 1>

Definition at line 65 of file eigen_frwds.h.

◆ CMatrixDouble66

using mrpt::math::CMatrixDouble66 = typedef CMatrixFixedNumeric<double, 6, 6>

Definition at line 59 of file eigen_frwds.h.

◆ CMatrixDouble71

using mrpt::math::CMatrixDouble71 = typedef CMatrixFixedNumeric<double, 7, 1>

Definition at line 67 of file eigen_frwds.h.

◆ CMatrixDouble77

using mrpt::math::CMatrixDouble77 = typedef CMatrixFixedNumeric<double, 7, 7>

Definition at line 60 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 138 of file CMatrixTemplateNumeric.h.

◆ CMatrixFloat12

using mrpt::math::CMatrixFloat12 = typedef CMatrixFixedNumeric<float, 1, 2>

Definition at line 82 of file eigen_frwds.h.

◆ CMatrixFloat13

using mrpt::math::CMatrixFloat13 = typedef CMatrixFixedNumeric<float, 1, 3>

Definition at line 80 of file eigen_frwds.h.

◆ CMatrixFloat15

using mrpt::math::CMatrixFloat15 = typedef CMatrixFixedNumeric<float, 1, 5>

Definition at line 89 of file eigen_frwds.h.

◆ CMatrixFloat16

using mrpt::math::CMatrixFloat16 = typedef CMatrixFixedNumeric<float, 1, 6>

Definition at line 85 of file eigen_frwds.h.

◆ CMatrixFloat17

using mrpt::math::CMatrixFloat17 = typedef CMatrixFixedNumeric<float, 1, 7>

Definition at line 87 of file eigen_frwds.h.

◆ CMatrixFloat21

using mrpt::math::CMatrixFloat21 = typedef CMatrixFixedNumeric<float, 2, 1>

Definition at line 83 of file eigen_frwds.h.

◆ CMatrixFloat22

using mrpt::math::CMatrixFloat22 = typedef CMatrixFixedNumeric<float, 2, 2>

Definition at line 73 of file eigen_frwds.h.

◆ CMatrixFloat23

using mrpt::math::CMatrixFloat23 = typedef CMatrixFixedNumeric<float, 2, 3>

Definition at line 74 of file eigen_frwds.h.

◆ CMatrixFloat31

using mrpt::math::CMatrixFloat31 = typedef CMatrixFixedNumeric<float, 3, 1>

Definition at line 81 of file eigen_frwds.h.

◆ CMatrixFloat32

using mrpt::math::CMatrixFloat32 = typedef CMatrixFixedNumeric<float, 3, 2>

Definition at line 75 of file eigen_frwds.h.

◆ CMatrixFloat33

using mrpt::math::CMatrixFloat33 = typedef CMatrixFixedNumeric<float, 3, 3>

Definition at line 76 of file eigen_frwds.h.

◆ CMatrixFloat44

using mrpt::math::CMatrixFloat44 = typedef CMatrixFixedNumeric<float, 4, 4>

Definition at line 77 of file eigen_frwds.h.

◆ CMatrixFloat51

using mrpt::math::CMatrixFloat51 = typedef CMatrixFixedNumeric<float, 5, 1>

Definition at line 88 of file eigen_frwds.h.

◆ CMatrixFloat61

using mrpt::math::CMatrixFloat61 = typedef CMatrixFixedNumeric<float, 6, 1>

Definition at line 84 of file eigen_frwds.h.

◆ CMatrixFloat66

using mrpt::math::CMatrixFloat66 = typedef CMatrixFixedNumeric<float, 6, 6>

Definition at line 78 of file eigen_frwds.h.

◆ CMatrixFloat71

using mrpt::math::CMatrixFloat71 = typedef CMatrixFixedNumeric<float, 7, 1>

Definition at line 86 of file eigen_frwds.h.

◆ CMatrixFloat77

using mrpt::math::CMatrixFloat77 = typedef CMatrixFixedNumeric<float, 7, 7>

Definition at line 79 of file eigen_frwds.h.

◆ CMatrixLongDouble

using mrpt::math::CMatrixLongDouble = typedef CMatrixTemplateNumeric<double>

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 162 of file CMatrixTemplateNumeric.h.

◆ CMatrixUInt

using mrpt::math::CMatrixUInt = typedef CMatrixTemplateNumeric<unsigned int>

Declares a matrix of unsigned ints (non serializable).

See also: CMatrixDouble, CMatrixFloat

Definition at line 149 of file CMatrixTemplateNumeric.h.

◆ CQuaternionDouble

using mrpt::math::CQuaternionDouble = typedef CQuaternion<double>

A quaternion of data type "double".

Definition at line 504 of file CQuaternion.h.

◆ CQuaternionFloat

using mrpt::math::CQuaternionFloat = typedef CQuaternion<float>

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 46 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 45 of file eigen_frwds.h.

◆ FFT_TYPE

using mrpt::math::FFT_TYPE = typedef float

You may use, copy, modify this code for any purpose and without fee. You may distribute this ORIGINAL package.

Definition at line 149 of file fourier.cpp.

Enumeration Type Documentation

◆ TConstructorFlags_Matrices

enum mrpt::math::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 73 of file math_frwds.h.

◆ TConstructorFlags_Quaternions

enum mrpt::math::TConstructorFlags_Quaternions

Enumerator
UNINITIALIZED_QUATERNION

Definition at line 22 of file CQuaternion.h.

◆ TMatrixTextFileFormat

enum mrpt::math::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 60 of file math_frwds.h.

Function Documentation

◆ absDiff()

template<class T >

T mrpt::math::absDiff	(	const T &	lhs,
		const T &	rhs
	)

Absolute difference between two numbers.

Definition at line 54 of file math/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()

template<class CONTAINER >

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]

template<class T >

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 45 of file math/include/mrpt/math/utils.h.

References approximatelyEqual().

◆ approximatelyEqual() [2/2]

template<class T1 , class T2 >

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 34 of file math/include/mrpt/math/utils.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::addScanMatchingEdges(), approximatelyEqual(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::computeDominantEigenVector().

◆ bitrv2()

static void mrpt::math::bitrv2	(	int	n,
		int *	ip,
		FFT_TYPE *	a
	)

static

You may use, copy, modify this code for any purpose and without fee. You may distribute this ORIGINAL package.

Definition at line 457 of file fourier.cpp.

Referenced by cdft(), makewt(), and rdft().

◆ cdft()

static void mrpt::math::cdft	(	int	n,
		int	isgn,
		FFT_TYPE *	a,
		int *	ip,
		FFT_TYPE *	w
	)

static

You may use, copy, modify this code for any purpose and without fee. You may distribute this ORIGINAL package.

Definition at line 524 of file fourier.cpp.

References bitrv2(), cftbsub(), cftfsub(), and makewt().

Referenced by cdft2d(), and rdft2d().

◆ cdft2d()

static void mrpt::math::cdft2d	(	int	n1,
		int	n2,
		int	isgn,
		FFT_TYPE **	a,
		FFT_TYPE *	t,
		int *	ip,
		FFT_TYPE *	w
	)

static

    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 888 of file fourier.cpp.

References cdft(), and makewt().

Referenced by dft2_complex(), and idft2_complex().

◆ cftbsub()

static void mrpt::math::cftbsub	(	int	n,
		FFT_TYPE *	a,
		FFT_TYPE *	w
	)

static

Definition at line 158 of file fourier.cpp.

Referenced by cdft(), and rdft().

◆ cftfsub()

static void mrpt::math::cftfsub	(	int	n,
		FFT_TYPE *	a,
		FFT_TYPE *	w
	)

static

Definition at line 278 of file fourier.cpp.

Referenced by cdft(), and rdft().

◆ containerFromPoseOrPoint()

template<class CONTAINER , class POINT_OR_POSE >

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()

template<class CONTAINER1 , class CONTAINER2 >

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()

template<class MATRIX >

Eigen::Matrix<typename MATRIX::Scalar, MATRIX::ColsAtCompileTime, MATRIX::ColsAtCompileTime> mrpt::math::cov ( const MATRIX & v )

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().

◆ covVector()

template<class VECTOR_OF_VECTOR , class RETURN_MATRIX >

RETURN_MATRIX mrpt::math::covVector ( const VECTOR_OF_VECTOR & v )

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 397 of file ops_containers.h.

References meanAndCovVec().

◆ cumsum() [1/2]

template<class CONTAINER >

CONTAINER mrpt::math::cumsum ( const CONTAINER & in_data )

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]

template<class CONTAINER1 , class CONTAINER2 >

void mrpt::math::cumsum	(	const CONTAINER1 &	in_data,
		CONTAINER2 &	out_cumsum
	)

inline

Definition at line 111 of file ops_containers.h.

References cumsum_tmpl().

Referenced by confidenceIntervals(), and cumsum().

◆ cumsum_tmpl()

template<class CONTAINER1 , class CONTAINER2 , typename VALUE >

void mrpt::math::cumsum_tmpl	(	const CONTAINER1 &	in_data,
		CONTAINER2 &	out_cumsum
	)

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().

◆ dotProduct() [1/2]

template<class CONTAINER1 , class CONTAINER2 >

CONTAINER1::Scalar mrpt::math::dotProduct	(	const CONTAINER1 &	v1,
		const CONTAINER1 &	v2
	)

inline

v1*v2: The dot product of two containers (vectors/arrays/matrices)

Definition at line 190 of file ops_containers.h.

◆ dotProduct() [2/2]

template<size_t N, class T , class U , class V >

T mrpt::math::dotProduct	(	const U &	v1,
		const V &	v2
	)

inline

v1*v2: The dot product of any two objects supporting []

Definition at line 198 of file ops_containers.h.

◆ estimateJacobian()

template<class VECTORLIKE , class VECTORLIKE2 , class VECTORLIKE3 , class MATRIXLIKE , class USERPARAM >

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 Pose3DTests::check_jacob_expe_e_at_0(), Pose3DTests::check_jacob_LnT_T(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::vision::recompute_errors_and_Jacobians(), mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration(), Pose3DQuatTests::test_composePointJacob(), Pose3DTests::test_composePointJacob(), Pose3DTests::test_composePointJacob_se3(), Pose3DQuatTests::test_invComposePointJacob(), Pose3DTests::test_invComposePointJacob(), Pose3DTests::test_invComposePointJacob_se3(), Pose3DTests::test_Jacob_dAexpeD_de(), Pose3DTests::test_Jacob_dexpeD_de(), SE_traits_tests< POSE_TYPE >::test_jacobs_P1DP2inv(), Pose3DQuatTests::test_normalizeJacob(), Pose3DQuatTests::test_sphericalCoords(), Pose3DQuatPDFGaussTests::testCompositionJacobian(), Pose3DPDFGaussTests::testCompositionJacobian(), and transform_gaussian_linear().

◆ four1()

static void mrpt::math::four1	(	float	data[],
		unsigned long	nn,
		int	isign
	)

static

Definition at line 33 of file fourier.cpp.

Referenced by realft().

◆ getColumnAccessor() [1/4]

template<typename MAT >

CConstMatrixColumnAccessor<MAT> mrpt::math::getColumnAccessor	(	const MAT &	m,
		size_t	colIdx
	)

inline

Definition at line 679 of file matrix_adaptors.h.

◆ getColumnAccessor() [2/4]

template<typename MAT >

CConstMatrixColumnAccessorExtended<MAT> mrpt::math::getColumnAccessor	(	const MAT &	m,
		size_t	colIdx,
		size_t	offset,
		size_t	space = `1`
	)

inline

Definition at line 740 of file matrix_adaptors.h.

◆ getColumnAccessor() [3/4]

template<typename MAT >

CMatrixColumnAccessor<MAT> mrpt::math::getColumnAccessor	(	MAT &	m,
		size_t	colIdx
	)

inline

Definition at line 548 of file matrix_adaptors.h.

◆ getColumnAccessor() [4/4]

template<typename MAT >

CMatrixColumnAccessorExtended<MAT> mrpt::math::getColumnAccessor	(	MAT &	m,
		size_t	colIdx,
		size_t	offset,
		size_t	space = `1`
	)

inline

Definition at line 623 of file matrix_adaptors.h.

◆ getRowAccessor() [1/4]

template<typename MAT >

CConstMatrixRowAccessor<MAT> mrpt::math::getRowAccessor	(	const MAT &	m,
		size_t	rowIdx
	)

inline

Definition at line 415 of file matrix_adaptors.h.

◆ getRowAccessor() [2/4]

template<typename MAT >

CConstMatrixRowAccessorExtended<MAT> mrpt::math::getRowAccessor	(	const MAT &	m,
		size_t	rowIdx,
		size_t	offset,
		size_t	space = `1`
	)

inline

Definition at line 477 of file matrix_adaptors.h.

◆ getRowAccessor() [3/4]

template<typename MAT >

CMatrixRowAccessor<MAT> mrpt::math::getRowAccessor	(	MAT &	m,
		size_t	rowIdx
	)

inline

Definition at line 280 of file matrix_adaptors.h.

◆ getRowAccessor() [4/4]

template<typename MAT >

CMatrixRowAccessorExtended<MAT> mrpt::math::getRowAccessor	(	MAT &	m,
		size_t	rowIdx,
		size_t	offset,
		size_t	space = `1`
	)

inline

Definition at line 357 of file matrix_adaptors.h.

◆ histogram()

template<class CONTAINER >

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 confidenceIntervals(), and mrpt::pbmap::getMode().

◆ homogeneousMatrixInverse() [1/3]

template<class IN_ROTMATRIX , class IN_XYZ , class OUT_ROTMATRIX , class OUT_XYZ >

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 79 of file homog_matrices.h.

References ASSERT_, MRPT_END, and MRPT_START.

◆ homogeneousMatrixInverse() [2/3]

template<class MATRIXLIKE1 , class MATRIXLIKE2 >

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 24 of file homog_matrices.h.

References ASSERT_, MRPT_END, and MRPT_START.

Referenced by mrpt::poses::CPoseOrPoint< CPoint3D >::getInverseHomogeneousMatrix(), mrpt::math::TPose3D::getInverseHomogeneousMatrix(), mrpt::poses::CPose3D::inverse(), mrpt::poses::CPose3D::inverseComposeFrom(), mrpt::poses::CPose3D::inverseComposePoint(), and mrpt::obs::detail::project3DPointsFromDepthImageInto().

◆ homogeneousMatrixInverse() [3/3]

template<class MATRIXLIKE >

void mrpt::math::homogeneousMatrixInverse ( MATRIXLIKE & M )

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 108 of file homog_matrices.h.

References ASSERTDEB_.

◆ isLeft()

double mrpt::math::isLeft	(	const mrpt::math::TPoint2D &	P0,
		const mrpt::math::TPoint2D &	P1,
		const mrpt::math::TPoint2D &	P2
	)

inline

Definition at line 1026 of file lightweight_geom_data.cpp.

References mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

Referenced by mrpt::math::TPolygon2D::contains().

◆ kmeans()

template<class LIST_OF_VECTORS1 , class LIST_OF_VECTORS2 >

double mrpt::math::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`
	)

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()

template<class LIST_OF_VECTORS1 , class LIST_OF_VECTORS2 >

double mrpt::math::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`
	)

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: The standard kmeans algorithm, see: kmeans

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()

static void mrpt::math::makect	(	int	nc,
		int *	ip,
		FFT_TYPE *	c
	)

static

You may use, copy, modify this code for any purpose and without fee. You may distribute this ORIGINAL package.

Definition at line 432 of file fourier.cpp.

Referenced by rdft(), and rdft2d().

◆ makewt()

static void mrpt::math::makewt	(	int	nw,
		int *	ip,
		FFT_TYPE *	w
	)

static

Definition at line 398 of file fourier.cpp.

References bitrv2().

Referenced by cdft(), cdft2d(), rdft(), and rdft2d().

◆ maximum() [1/2]

template<class CONTAINER >

CONTAINER::Scalar mrpt::math::maximum ( const CONTAINER & v )

inline

Definition at line 139 of file ops_containers.h.

Referenced by averageLogLikelihood(), mrpt::poses::CPointPDFParticles::computeKurtosis(), mrpt::bayes::CParticleFilterCapable::computeResampling(), confidenceIntervals(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::particlesEvaluator_AuxPFOptimal(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), mrpt::bayes::CParticleFilterCapable::prepareFastDrawSample(), weightedHistogram(), and weightedHistogramLog().

◆ maximum() [2/2]

template<typename T >

T mrpt::math::maximum ( const std::vector< T > & v )

inline

Definition at line 150 of file ops_containers.h.

References ASSERT_, and mrpt::keep_max().

◆ mean()

template<class CONTAINER >

double mrpt::math::mean ( const CONTAINER & v )

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(), MATLAB_plotCovariance2D(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::opengl::CSetOfObjects::posePDF2opengl(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

◆ meanAndCovMat()

template<class MAT_IN , class VECTOR , class MAT_OUT >

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.

See also: mrpt::math::meanAndCovVec, math::mean,math::stddev, math::cov

Definition at line 103 of file ops_matrices.h.

References ASSERTMSG_, and mrpt::square().

Referenced by cov().

◆ meanAndCovVec()

template<class VECTOR_OF_VECTOR , class VECTORLIKE , class MATRIXLIKE >

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.

See also: mrpt::math::meanAndCovMat, math::mean,math::stddev, math::cov

Definition at line 351 of file ops_containers.h.

References ASSERTMSG_, and mrpt::square().

Referenced by covVector().

◆ meanAndStd()

template<class VECTORLIKE >

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

Referenced by mrpt::vision::CFeature::internal_distanceBetweenPolarImages(), stddev(), and mrpt::vision::updateBaseList().

◆ minimum() [1/2]

template<class CONTAINER >

CONTAINER::Scalar mrpt::math::minimum ( const CONTAINER & v )

inline

Definition at line 144 of file ops_containers.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), weightedHistogram(), and weightedHistogramLog().

◆ minimum() [2/2]

template<typename T >

T mrpt::math::minimum ( const std::vector< T > & v )

inline

Definition at line 158 of file ops_containers.h.

References ASSERT_, and mrpt::keep_min().

◆ minimum_maximum() [1/2]

template<class Derived >

void mrpt::math::minimum_maximum	(	const Eigen::MatrixBase< Derived > &	V,
		typename Eigen::MatrixBase< Derived >::Scalar &	curMin,
		typename Eigen::MatrixBase< Derived >::Scalar &	curMax
	)

inline

Return the maximum and minimum values of a Eigen-based vector or matrix.

Definition at line 258 of file ops_containers.h.

◆ minimum_maximum() [2/2]

template<typename T >

void mrpt::math::minimum_maximum	(	const std::vector< T > &	V,
		T &	curMin,
		T &	curMax
	)

inline

Return the maximum and minimum values of a std::vector.

Definition at line 244 of file ops_containers.h.

References ASSERT_, mrpt::keep_max(), and mrpt::keep_min().

Referenced by adjustRange(), confidenceIntervals(), and mrpt::opengl::CPointCloud::render().

◆ multiply_A_skew3()

template<class MAT_A , class SKEW_3VECTOR , class MAT_OUT >

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, and MRPT_START.

Referenced by multiply_A_skew3().

◆ multiply_HCHt()

template<typename MAT_H , typename MAT_C , typename MAT_R >

void mrpt::math::multiply_HCHt	(	const MAT_H &	H,
		const MAT_C &	C,
		MAT_R &	R,
		bool	accumResultInOutput
	)

inline

R = H * C * H^t (with C symmetric)

Definition at line 51 of file ops_matrices.h.

References R.

◆ multiply_HCHt_scalar()

template<typename VECTOR_H , typename MAT_C >

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()

template<typename MAT_H , typename MAT_C , typename MAT_R >

void mrpt::math::multiply_HtCH	(	const MAT_H &	H,
		const MAT_C &	C,
		MAT_R &	R,
		bool	accumResultInOutput
	)

R = H^t * C * H (with C symmetric)

Definition at line 76 of file ops_matrices.h.

References R.

◆ multiply_skew3_A()

template<class SKEW_3VECTOR , class MAT_A , class MAT_OUT >

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, and MRPT_START.

Referenced by multiply_skew3_A().

◆ ncc_vector()

template<class CONT1 , class CONT2 >

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 412 of file ops_containers.h.

References ASSERT_, ASSERTMSG_, and mrpt::square().

◆ norm()

template<class CONTAINER >

CONTAINER::Scalar mrpt::math::norm ( const CONTAINER & v )

inline

Definition at line 134 of file ops_containers.h.

Referenced by 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()

template<class CONTAINER >

CONTAINER::Scalar mrpt::math::norm_inf ( const CONTAINER & v )

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]

CArchive & mrpt::math::operator<<	(	mrpt::serialization::CArchive &	s,
		const mrpt::math::CVectorDouble &	a
	)

Definition at line 631 of file math.cpp.

◆ operator<<() [2/2]

CArchive & mrpt::math::operator<<	(	mrpt::serialization::CArchive &	s,
		const mrpt::math::CVectorFloat &	a
	)

Definition at line 625 of file math.cpp.

◆ operator>>() [1/4]

mrpt::serialization::CArchive& mrpt::math::operator>>	(	mrpt::serialization::CArchive &	in,
		CMatrix::Ptr &	pObj
	)

◆ operator>>() [2/4]

mrpt::serialization::CArchive& mrpt::math::operator>>	(	mrpt::serialization::CArchive &	in,
		CMatrixD::Ptr &	pObj
	)

◆ operator>>() [3/4]

CArchive & mrpt::math::operator>>	(	mrpt::serialization::CArchive &	in,
		mrpt::math::CVectorDouble &	a
	)

Definition at line 619 of file math.cpp.

References mrpt::serialization::CArchive::ReadBufferFixEndianness().

◆ operator>>() [4/4]

CArchive & mrpt::math::operator>>	(	mrpt::serialization::CArchive &	in,
		mrpt::math::CVectorFloat &	a
	)

Definition at line 613 of file math.cpp.

References mrpt::serialization::CArchive::ReadBufferFixEndianness().

◆ ransac3Dplane_degenerate()

template<typename T >

bool mrpt::math::ransac3Dplane_degenerate	(	const CMatrixTemplateNumeric< T > &	allData,
		const std::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()

template<typename T >

void mrpt::math::ransac3Dplane_distance	(	const CMatrixTemplateNumeric< T > &	allData,
		const vector< CMatrixTemplateNumeric< T >> &	testModels,
		const T	distanceThreshold,
		unsigned int &	out_bestModelIndex,
		std::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()

template<typename T >

void mrpt::math::ransac3Dplane_fit	(	const CMatrixTemplateNumeric< T > &	allData,
		const std::vector< size_t > &	useIndices,
		vector< CMatrixTemplateNumeric< T >> &	fitModels
	)

Definition at line 26 of file ransac_applications.cpp.

References ASSERT_, and mrpt::math::TPlane::coefs.

◆ rdft()

static void mrpt::math::rdft	(	int	n,
		int	isgn,
		FFT_TYPE *	a,
		int *	ip,
		FFT_TYPE *	w
	)

static

Definition at line 568 of file fourier.cpp.

References bitrv2(), cftbsub(), cftfsub(), makect(), makewt(), rftbsub(), and rftfsub().

Referenced by rdft2d().

◆ rdft2d()

static void mrpt::math::rdft2d	(	int	n1,
		int	n2,
		int	isgn,
		FFT_TYPE **	a,
		FFT_TYPE *	t,
		int *	ip,
		FFT_TYPE *	w
	)

static

    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 736 of file fourier.cpp.

References cdft(), makect(), makewt(), and rdft().

Referenced by dft2_real(), and idft2_real().

◆ realft()

static void mrpt::math::realft	(	float	data[],
		unsigned long	n
	)

static

Definition at line 102 of file fourier.cpp.

References four1().

Referenced by fft_real().

◆ removeRepVertices()

template<class T >

void mrpt::math::removeRepVertices ( T & poly )

inline

Definition at line 964 of file lightweight_geom_data.cpp.

References distance(), and getEpsilon().

Referenced by mrpt::math::TPolygon2D::removeRepeatedVertices(), and mrpt::math::TPolygon3D::removeRepeatedVertices().

◆ removeUnusedVertices()

template<class T >

void mrpt::math::removeUnusedVertices ( T & poly )

inline

Definition at line 932 of file lightweight_geom_data.cpp.

References distance(), and getEpsilon().

Referenced by mrpt::math::TPolygon2D::removeRedundantVertices(), and mrpt::math::TPolygon3D::removeRedundantVertices().

◆ resizeLike() [1/2]

template<class EIGEN_CONTAINER >

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]

template<typename T >

void mrpt::math::resizeLike	(	std::vector< T > &	trg,
		const std::vector< T > &	src
	)

Definition at line 89 of file ops_containers.h.

◆ rftbsub()

static void mrpt::math::rftbsub	(	int	n,
		FFT_TYPE *	a,
		int	nc,
		FFT_TYPE *	c
	)

static

Definition at line 613 of file fourier.cpp.

Referenced by rdft().

◆ rftfsub()

static void mrpt::math::rftfsub	(	int	n,
		FFT_TYPE *	a,
		int	nc,
		FFT_TYPE *	c
	)

static

Definition at line 544 of file fourier.cpp.

Referenced by rdft().

◆ size()

template<class MATRIXLIKE >

size_t mrpt::math::size	(	const MATRIXLIKE &	m,
		const int	dim
	)

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 23 of file math/include/mrpt/math/bits_math.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(), mrpt::math::TPolygon2D::isConvex(), mrpt::tfest::TMatchingPairList::overallSquareError(), mrpt::tfest::TMatchingPairList::overallSquareErrorAndPoints(), and mrpt::tfest::TMatchingPairList::squareErrorVector().

◆ squareNorm()

template<size_t N, class T , class U >

T mrpt::math::squareNorm ( const U & v )

inline

Compute the square norm of anything implementing [].

See also: norm

Definition at line 181 of file ops_containers.h.

References mrpt::square().

◆ squareNorm_accum()

template<class CONTAINER , typename VALUE >

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()

template<class VECTORLIKE >

double mrpt::math::stddev	(	const VECTORLIKE &	v,
		bool	unbiased = `true`
	)

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]

template<class CONTAINER >

CONTAINER::Scalar mrpt::math::sum ( const CONTAINER & v )

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::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::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]

template<typename T >

T mrpt::math::sum ( const std::vector< T > & v )

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()

template<class CONTAINER , typename RET >

RET mrpt::math::sumRetType ( const CONTAINER & v )

inline

Computes the sum of all the elements, with a custom return type.

See also: sum, cumsum

Definition at line 226 of file ops_containers.h.

Detailed Description

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ CArrayDouble

◆ CArrayFloat

◆ CArrayInt

◆ CArrayUInt

◆ CLevenbergMarquardt

◆ CMatrixDouble

◆ CMatrixDouble12

◆ CMatrixDouble13

◆ CMatrixDouble15

◆ CMatrixDouble16

◆ CMatrixDouble17

◆ CMatrixDouble21

◆ CMatrixDouble22

◆ CMatrixDouble23

◆ CMatrixDouble31

◆ CMatrixDouble32

◆ CMatrixDouble33

◆ CMatrixDouble41

◆ CMatrixDouble44

◆ CMatrixDouble51

◆ CMatrixDouble61

◆ CMatrixDouble66

◆ CMatrixDouble71

◆ CMatrixDouble77

◆ CMatrixFloat

◆ CMatrixFloat12

◆ CMatrixFloat13

◆ CMatrixFloat15

◆ CMatrixFloat16

◆ CMatrixFloat17

◆ CMatrixFloat21

◆ CMatrixFloat22

◆ CMatrixFloat23

◆ CMatrixFloat31

◆ CMatrixFloat32

◆ CMatrixFloat33

◆ CMatrixFloat44

◆ CMatrixFloat51

◆ CMatrixFloat61

◆ CMatrixFloat66

◆ CMatrixFloat71

◆ CMatrixFloat77

◆ CMatrixLongDouble

◆ CMatrixUInt

◆ CQuaternionDouble

◆ CQuaternionFloat

◆ CVectorDouble

◆ CVectorFloat

◆ FFT_TYPE

Enumeration Type Documentation

◆ TConstructorFlags_Matrices

◆ TConstructorFlags_Quaternions

◆ TMatrixTextFileFormat

Function Documentation

◆ absDiff()

◆ adjustRange()

◆ approximatelyEqual() [1/2]

◆ approximatelyEqual() [2/2]

◆ bitrv2()

◆ cdft()

◆ cdft2d()

◆ cftbsub()

◆ cftfsub()

◆ containerFromPoseOrPoint()

◆ countCommonElements()

◆ cov()

◆ covVector()

◆ cumsum() [1/2]

◆ cumsum() [2/2]

◆ cumsum_tmpl()

◆ dotProduct() [1/2]

◆ dotProduct() [2/2]