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<h1>CMatrixFixedNumeric.h</h1> </div>
</div>
<div class="contents">
<a href="_c_matrix_fixed_numeric_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CMatrixFixedNumeric_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CMatrixFixedNumeric_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_array_8h.html">mrpt/math/CArray.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="math__frwds_8h.html">mrpt/math/math_frwds.h</a>></span> <span class="comment">// Fordward declarations</span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keyword">namespace </span>math
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">using namespace </span>mrpt::system;
<a name="l00040"></a>00040 <span class="keyword">using namespace </span>mrpt::poses;
<a name="l00041"></a>00041 <span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment"> /** A numeric matrix of compile-time fixed size.</span>
<a name="l00043"></a>00043 <span class="comment"> * Basically, this class is a wrapper on Eigen::Matrix<T,NROWS,NCOLS>, but</span>
<a name="l00044"></a>00044 <span class="comment"> * with a RowMajor element memory layout (except for column vectors).</span>
<a name="l00045"></a>00045 <span class="comment"> *</span>
<a name="l00046"></a>00046 <span class="comment"> * These matrices also have iterators to access all the elements in the matrix as a sequence, starting from the element (0,0), then row by row, from left to right.</span>
<a name="l00047"></a>00047 <span class="comment"> *</span>
<a name="l00048"></a>00048 <span class="comment"> * \note This class exists for backward compatibility of ancient times when MRPT didn't rely on Eigen, feel free to directly use Eigen::Matrix<> types instead.</span>
<a name="l00049"></a>00049 <span class="comment"> * \sa CMatrixTemplateNumeric (for dynamic-size matrices)</span>
<a name="l00050"></a>00050 <span class="comment"> */</span>
<a name="l00051"></a>00051 <span class="keyword">template</span> <<span class="keyword">typename</span> T,<span class="keywordtype">size_t</span> NROWS,<span class="keywordtype">size_t</span> NCOLS>
<a name="l00052"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">00052</a> <span class="keyword">class </span><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric</a> :
<a name="l00053"></a>00053 <span class="keyword">public</span> Eigen::<a class="code" href="class_matrix.html" title="The matrix class, also used for vectors and row-vectors.">Matrix</a><
<a name="l00054"></a>00054 T,
<a name="l00055"></a>00055 NROWS,
<a name="l00056"></a>00056 NCOLS,
<a name="l00057"></a>00057 <span class="comment">// Use row major storage for backward compatibility with MRPT matrices in all cases, except in column vectors:</span>
<a name="l00058"></a>00058 Eigen::AutoAlign |
<a name="l00059"></a>00059 ( (NCOLS==1 && NROWS!=1) ? Eigen::ColMajor : Eigen::RowMajor )
<a name="l00060"></a>00060 >
<a name="l00061"></a>00061 {
<a name="l00062"></a>00062 <span class="keyword">public</span>:
<a name="l00063"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a4e32666c7aa1ff953ae246024ed529ad">00063</a> <span class="keyword">typedef</span> Eigen::Matrix<T,NROWS,NCOLS, Eigen::AutoAlign | ( (NCOLS==1 && NROWS!=1) ? Eigen::ColMajor : Eigen::RowMajor ) > <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a4e32666c7aa1ff953ae246024ed529ad">Base</a>;
<a name="l00064"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#ac1ce46e9f9a3deea8574474ef2667980">00064</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<T,NROWS,NCOLS></a> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#ac1ce46e9f9a3deea8574474ef2667980">mrpt_autotype</a>;
<a name="l00065"></a>00065
<a name="l00066"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#aad69c6dc6690d53f533a17dd64a1358e">00066</a> <a class="code" href="base_2include_2mrpt_2utils_2types_8h.html#a5423f1c8bf92c8c2bb6592ee8ac333ef">MRPT_EIGEN_DERIVED_CLASS_CTOR_OPERATOR_EQUAL</a>(<a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric</a>) <span class="comment">// Implements ctor and "operator =" for any other Eigen class</span>
<a name="l00067"></a>00067 <a class="code" href="math__frwds_8h.html#a62ee3e474e8ff7287af332daa529f7f8">MRPT_MATRIX_CONSTRUCTORS_FROM_POSES</a>(<a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric</a>)
<a name="l00068"></a>00068 <span class="comment"></span>
<a name="l00069"></a>00069 <span class="comment"> /** Default constructor, initializes all elements to zero */</span>
<a name="l00070"></a>00070 inline <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric</a>() : <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a4e32666c7aa1ff953ae246024ed529ad">Base</a>() { Base::setZero(); }
<a name="l00071"></a>00071 <span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment"> /** Constructor from an array in row major */</span>
<a name="l00073"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a93ff228c0004cd83da22dcf8ab7a0b25">00073</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a93ff228c0004cd83da22dcf8ab7a0b25" title="Constructor from an array in row major.">CMatrixFixedNumeric</a>(<span class="keyword">const</span> T * vals) : <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a4e32666c7aa1ff953ae246024ed529ad">Base</a>(vals) { }
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** Constructor which leaves the matrix uninitialized.</span>
<a name="l00076"></a>00076 <span class="comment"> * Example of usage: CMatrixFixedNumeric<double,3,2> M(UNINITIALIZED_MATRIX);</span>
<a name="l00077"></a>00077 <span class="comment"> */</span>
<a name="l00078"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a4360b324977d9257863308b1fc3d5cde">00078</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a4360b324977d9257863308b1fc3d5cde" title="Constructor which leaves the matrix uninitialized.">CMatrixFixedNumeric</a>(<a class="code" href="namespacemrpt_1_1math.html#a27e8ae8971ff5aa1c39f1f9be334d73a" title="For usage in one of the constructors of CMatrixFixedNumeric or CMatrixTemplate (and derived classes)...">TConstructorFlags_Matrices</a> constructor_flag) : <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a4e32666c7aa1ff953ae246024ed529ad">Base</a>() { }
<a name="l00079"></a>00079
<a name="l00080"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a27cee5d46f1e9d45d5a0470344dfd95d">00080</a> <span class="keyword">template</span><<span class="keywordtype">size_t</span> N,<span class="keyword">typename</span> ReturnType> <span class="keyword">inline</span> ReturnType <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a27cee5d46f1e9d45d5a0470344dfd95d">getVicinity</a>(<span class="keywordtype">size_t</span> c,<span class="keywordtype">size_t</span> r)<span class="keyword"> const </span>{
<a name="l00081"></a>00081 <span class="keywordflow">return</span> detail::getVicinity<CMatrixFixedNumeric<T,NROWS,NCOLS>,T,ReturnType,N>::get(c,r,*<span class="keyword">this</span>);
<a name="l00082"></a>00082 }
<a name="l00083"></a>00083
<a name="l00084"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a7d3b7a3d31c4619513d4c74a5118ad96">00084</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> loadFromArray(<span class="keyword">const</span> T* vals)
<a name="l00085"></a>00085 {
<a name="l00086"></a>00086 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a4e32666c7aa1ff953ae246024ed529ad">Base</a> b(vals);
<a name="l00087"></a>00087 *<span class="keyword">this</span> = b;
<a name="l00088"></a>00088 }
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** == comparison of two matrices; it differs from default Eigen operator in that returns false if matrices are of different sizes instead of raising an assert. */</span>
<a name="l00091"></a>00091 <span class="keyword">template</span> <<span class="keyword">typename</span> Derived>
<a name="l00092"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#aee8e50f6c9b56de9d0a2b31256fad06d">00092</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#aff8ce16d2b9418f6abf57b784498cb16">operator ==</a>(<span class="keyword">const</span> Eigen::MatrixBase<Derived>& m2)<span class="keyword"> const</span>
<a name="l00093"></a>00093 <span class="keyword"> </span>{
<a name="l00094"></a>00094 <span class="keywordflow">return</span> Base::cols()==m2.cols() &&
<a name="l00095"></a>00095 Base::rows()==m2.rows() &&
<a name="l00096"></a>00096 <a class="code" href="_matrix_cwise_binary_ops_8h.html#a603897bb752cef831c7eda55922ea722">Base::cwiseEqual</a>(m2).all();
<a name="l00097"></a>00097 }<span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment"> /** != comparison of two matrices; it differs from default Eigen operator in that returns true if matrices are of different sizes instead of raising an assert. */</span>
<a name="l00099"></a>00099 <span class="keyword">template</span> <<span class="keyword">typename</span> Derived>
<a name="l00100"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a76172a800945eea25f833191a49253e5">00100</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#a716a406286d90fe9d501bf56871309f6">operator !=</a>(<span class="keyword">const</span> Eigen::MatrixBase<Derived>& m2)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> !((*this)==m2); }
<a name="l00101"></a>00101
<a name="l00102"></a>00102
<a name="l00103"></a>00103 }; <span class="comment">// end of class definition ------------------------------</span>
<a name="l00104"></a>00104 <span class="comment"></span>
<a name="l00105"></a>00105 <span class="comment"> /** @name Typedefs for common sizes</span>
<a name="l00106"></a>00106 <span class="comment"> @{ */</span>
<a name="l00107"></a><a class="code" href="namespacemrpt_1_1math.html#a9a3e1b8b610feeb6403638596bdc4578">00107</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric<double,2,2></a> <a class="code" href="namespacemrpt_1_1math.html#a9a3e1b8b610feeb6403638596bdc4578">CMatrixDouble22</a>;
<a name="l00108"></a><a class="code" href="namespacemrpt_1_1math.html#a83158a9ba61c5aab61f1d8fe0bfa4b36">00108</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,2,3></a> <a class="code" href="namespacemrpt_1_1math.html#a83158a9ba61c5aab61f1d8fe0bfa4b36">CMatrixDouble23</a>;
<a name="l00109"></a><a class="code" href="namespacemrpt_1_1math.html#ab43112bba01b14ce19fc4b3f247e0ee2">00109</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,3,2></a> <a class="code" href="namespacemrpt_1_1math.html#ab43112bba01b14ce19fc4b3f247e0ee2">CMatrixDouble32</a>;
<a name="l00110"></a><a class="code" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">00110</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric<double,3,3></a> <a class="code" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a>;
<a name="l00111"></a><a class="code" href="namespacemrpt_1_1math.html#a25a1ba39a478a66d24a4ecfb9c585c79">00111</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,4,4></a> <a class="code" href="namespacemrpt_1_1math.html#a25a1ba39a478a66d24a4ecfb9c585c79">CMatrixDouble44</a>;
<a name="l00112"></a><a class="code" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">00112</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric<double,6,6></a> <a class="code" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">CMatrixDouble66</a>;
<a name="l00113"></a><a class="code" href="namespacemrpt_1_1math.html#aed1f2021f6c0dc0dd77a96972acaf43a">00113</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric<double,7,7></a> <a class="code" href="namespacemrpt_1_1math.html#aed1f2021f6c0dc0dd77a96972acaf43a">CMatrixDouble77</a>;
<a name="l00114"></a><a class="code" href="namespacemrpt_1_1math.html#ae0f1c00b212046eb2da2d2b706596a78">00114</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,1,3></a> <a class="code" href="namespacemrpt_1_1math.html#ae0f1c00b212046eb2da2d2b706596a78">CMatrixDouble13</a>;
<a name="l00115"></a><a class="code" href="namespacemrpt_1_1math.html#a736fe777fa3e06f44ee25115ea3bfe45">00115</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,3,1></a> <a class="code" href="namespacemrpt_1_1math.html#a736fe777fa3e06f44ee25115ea3bfe45">CMatrixDouble31</a>;
<a name="l00116"></a><a class="code" href="namespacemrpt_1_1math.html#a48ff4a54c17399392608a3594b0a4465">00116</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,1,2></a> <a class="code" href="namespacemrpt_1_1math.html#a48ff4a54c17399392608a3594b0a4465">CMatrixDouble12</a>;
<a name="l00117"></a><a class="code" href="namespacemrpt_1_1math.html#a08a16a69a7e42f7c4dca7c5136b41c46">00117</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,2,1></a> <a class="code" href="namespacemrpt_1_1math.html#a08a16a69a7e42f7c4dca7c5136b41c46">CMatrixDouble21</a>;
<a name="l00118"></a><a class="code" href="namespacemrpt_1_1math.html#a52586c80c3b0ed450e391f2b94120aa1">00118</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,6,1></a> <a class="code" href="namespacemrpt_1_1math.html#a52586c80c3b0ed450e391f2b94120aa1">CMatrixDouble61</a>;
<a name="l00119"></a><a class="code" href="namespacemrpt_1_1math.html#afb229aef8f727e036d6a14a14965ffde">00119</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,1,6></a> <a class="code" href="namespacemrpt_1_1math.html#afb229aef8f727e036d6a14a14965ffde">CMatrixDouble16</a>;
<a name="l00120"></a><a class="code" href="namespacemrpt_1_1math.html#a6c38ff71e411e6b73d1b7de1f18bf820">00120</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,7,1></a> <a class="code" href="namespacemrpt_1_1math.html#a6c38ff71e411e6b73d1b7de1f18bf820">CMatrixDouble71</a>;
<a name="l00121"></a><a class="code" href="namespacemrpt_1_1math.html#a5977d8672735efc38769929ab742a917">00121</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,1,7></a> <a class="code" href="namespacemrpt_1_1math.html#a5977d8672735efc38769929ab742a917">CMatrixDouble17</a>;
<a name="l00122"></a><a class="code" href="namespacemrpt_1_1math.html#a04b63d59fd84d9fc948cbdd15123e6a1">00122</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,5,1></a> <a class="code" href="namespacemrpt_1_1math.html#a04b63d59fd84d9fc948cbdd15123e6a1">CMatrixDouble51</a>;
<a name="l00123"></a><a class="code" href="namespacemrpt_1_1math.html#acea06f45d45c97ff31a6b56c11119ece">00123</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,1,5></a> <a class="code" href="namespacemrpt_1_1math.html#acea06f45d45c97ff31a6b56c11119ece">CMatrixDouble15</a>;
<a name="l00124"></a>00124
<a name="l00125"></a><a class="code" href="namespacemrpt_1_1math.html#adbd7460227c1e11e792a9ee469550a21">00125</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,2,2></a> <a class="code" href="namespacemrpt_1_1math.html#adbd7460227c1e11e792a9ee469550a21">CMatrixFloat22</a>;
<a name="l00126"></a><a class="code" href="namespacemrpt_1_1math.html#a155c891f48138a92e762159093a212cc">00126</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,2,3></a> <a class="code" href="namespacemrpt_1_1math.html#a155c891f48138a92e762159093a212cc">CMatrixFloat23</a>;
<a name="l00127"></a><a class="code" href="namespacemrpt_1_1math.html#adef9613ac88e052957b5d64804b5bb7d">00127</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,3,2></a> <a class="code" href="namespacemrpt_1_1math.html#adef9613ac88e052957b5d64804b5bb7d">CMatrixFloat32</a>;
<a name="l00128"></a><a class="code" href="namespacemrpt_1_1math.html#aabb5d1bd385a780da2a919cab150690b">00128</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,3,3></a> <a class="code" href="namespacemrpt_1_1math.html#aabb5d1bd385a780da2a919cab150690b">CMatrixFloat33</a>;
<a name="l00129"></a><a class="code" href="namespacemrpt_1_1math.html#a664c31c02eb5b082d94fee583d707de0">00129</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric<float,4,4></a> <a class="code" href="namespacemrpt_1_1math.html#a664c31c02eb5b082d94fee583d707de0">CMatrixFloat44</a>;
<a name="l00130"></a><a class="code" href="namespacemrpt_1_1math.html#ad2b21e08c33da403d02e138c968bf020">00130</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,6,6></a> <a class="code" href="namespacemrpt_1_1math.html#ad2b21e08c33da403d02e138c968bf020">CMatrixFloat66</a>;
<a name="l00131"></a><a class="code" href="namespacemrpt_1_1math.html#a35b9961f1ad7cf92f4354b5f53bf3036">00131</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,7,7></a> <a class="code" href="namespacemrpt_1_1math.html#a35b9961f1ad7cf92f4354b5f53bf3036">CMatrixFloat77</a>;
<a name="l00132"></a><a class="code" href="namespacemrpt_1_1math.html#ad882ef7a63610e5d3921254453bd3bd2">00132</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,1,3></a> <a class="code" href="namespacemrpt_1_1math.html#ad882ef7a63610e5d3921254453bd3bd2">CMatrixFloat13</a>;
<a name="l00133"></a><a class="code" href="namespacemrpt_1_1math.html#a5235013a7473c0f9858038b5003afae1">00133</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,3,1></a> <a class="code" href="namespacemrpt_1_1math.html#a5235013a7473c0f9858038b5003afae1">CMatrixFloat31</a>;
<a name="l00134"></a><a class="code" href="namespacemrpt_1_1math.html#abd1d8263832cd3f65d3210cef735510b">00134</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,1,2></a> <a class="code" href="namespacemrpt_1_1math.html#abd1d8263832cd3f65d3210cef735510b">CMatrixFloat12</a>;
<a name="l00135"></a><a class="code" href="namespacemrpt_1_1math.html#ad8adda5c75c1c1ce2f760a54c31b242b">00135</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,2,1></a> <a class="code" href="namespacemrpt_1_1math.html#ad8adda5c75c1c1ce2f760a54c31b242b">CMatrixFloat21</a>;
<a name="l00136"></a><a class="code" href="namespacemrpt_1_1math.html#a0a9acac569b0891f2cd3385096b32d81">00136</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,6,1></a> <a class="code" href="namespacemrpt_1_1math.html#a0a9acac569b0891f2cd3385096b32d81">CMatrixFloat61</a>;
<a name="l00137"></a><a class="code" href="namespacemrpt_1_1math.html#ac4eb71d01fc81318f2f39cc60bad073c">00137</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,1,6></a> <a class="code" href="namespacemrpt_1_1math.html#ac4eb71d01fc81318f2f39cc60bad073c">CMatrixFloat16</a>;
<a name="l00138"></a><a class="code" href="namespacemrpt_1_1math.html#a47860cb65836c50c0c7a23f13ca9e875">00138</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,7,1></a> <a class="code" href="namespacemrpt_1_1math.html#a47860cb65836c50c0c7a23f13ca9e875">CMatrixFloat71</a>;
<a name="l00139"></a><a class="code" href="namespacemrpt_1_1math.html#a7cb47c537948d7eb2b176aea3146e833">00139</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,1,7></a> <a class="code" href="namespacemrpt_1_1math.html#a7cb47c537948d7eb2b176aea3146e833">CMatrixFloat17</a>;
<a name="l00140"></a><a class="code" href="namespacemrpt_1_1math.html#afc324f66d97f448b20aa657f11de381a">00140</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,5,1></a> <a class="code" href="namespacemrpt_1_1math.html#afc324f66d97f448b20aa657f11de381a">CMatrixFloat51</a>;
<a name="l00141"></a><a class="code" href="namespacemrpt_1_1math.html#a2d3528cb7602ebf978c9bee8fbb60e25">00141</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,1,5></a> <a class="code" href="namespacemrpt_1_1math.html#a2d3528cb7602ebf978c9bee8fbb60e25">CMatrixFloat15</a>;<span class="comment"></span>
<a name="l00142"></a>00142 <span class="comment"> /** @} */</span>
<a name="l00143"></a>00143
<a name="l00144"></a>00144
<a name="l00145"></a>00145 <span class="keyword">namespace </span>detail
<a name="l00146"></a>00146 {<span class="comment"></span>
<a name="l00147"></a>00147 <span class="comment"> /**</span>
<a name="l00148"></a>00148 <span class="comment"> * Vicinity traits class specialization for fixed size matrices.</span>
<a name="l00149"></a>00149 <span class="comment"> */</span>
<a name="l00150"></a><a class="code" href="classmrpt_1_1math_1_1detail_1_1_vicinity_traits_3_01_c_matrix_fixed_numeric_3_01_t_00_01_d_00_01_d_01_4_01_4.html">00150</a> <span class="keyword">template</span><<span class="keyword">typename</span> T,<span class="keywordtype">size_t</span> D> <span class="keyword">class </span>VicinityTraits<<a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric</a><T,D,D> > {
<a name="l00151"></a>00151 <span class="keyword">public</span>:
<a name="l00152"></a><a class="code" href="classmrpt_1_1math_1_1detail_1_1_vicinity_traits_3_01_c_matrix_fixed_numeric_3_01_t_00_01_d_00_01_d_01_4_01_4.html#a07d8c14dc68559ec845f1dbc98bcc1a3">00152</a> <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1math_1_1detail_1_1_vicinity_traits_3_01_c_matrix_fixed_numeric_3_01_t_00_01_d_00_01_d_01_4_01_4.html#a07d8c14dc68559ec845f1dbc98bcc1a3">initialize</a>(<a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<T,D,D></a> &mat,<span class="keywordtype">size_t</span> N) {
<a name="l00153"></a>00153 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(N==D);
<a name="l00154"></a>00154 }
<a name="l00155"></a><a class="code" href="classmrpt_1_1math_1_1detail_1_1_vicinity_traits_3_01_c_matrix_fixed_numeric_3_01_t_00_01_d_00_01_d_01_4_01_4.html#ac0d4440d083aa7f7b364e6b50ff3b138">00155</a> <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1math_1_1detail_1_1_vicinity_traits_3_01_c_matrix_fixed_numeric_3_01_t_00_01_d_00_01_d_01_4_01_4.html#ac0d4440d083aa7f7b364e6b50ff3b138">insertInContainer</a>(<a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<T,D,D></a> &mat,<span class="keywordtype">size_t</span> r,<span class="keywordtype">size_t</span> c,<span class="keyword">const</span> T &<a class="code" href="eigen__plugins_8h.html#a7b88b312dc3827120dbfc60da344625d" title="Transpose.">t</a>) {
<a name="l00156"></a>00156 mat.get_unsafe(r,c)=<a class="code" href="eigen__plugins_8h.html#a7b88b312dc3827120dbfc60da344625d" title="Transpose.">t</a>;
<a name="l00157"></a>00157 }
<a name="l00158"></a>00158 };
<a name="l00159"></a>00159 } <span class="comment">//End of detail namespace.</span>
<a name="l00160"></a>00160
<a name="l00161"></a>00161
<a name="l00162"></a>00162 } <span class="comment">// End of namespace</span>
<a name="l00163"></a>00163
<a name="l00164"></a>00164 <span class="keyword">namespace </span>utils
<a name="l00165"></a>00165 {
<a name="l00166"></a>00166 <span class="comment">// Extensions to mrpt::utils::TTypeName for matrices:</span>
<a name="l00167"></a><a class="code" href="structmrpt_1_1utils_1_1_t_type_name_3_01mrpt_1_1math_1_1_c_matrix_fixed_numeric_3_01_t_00_01_n_00_01_m_01_4_01_4.html">00167</a> <span class="keyword">template</span><<span class="keyword">typename</span> T,<span class="keywordtype">size_t</span> N,<span class="keywordtype">size_t</span> M> <span class="keyword">struct </span><a class="code" href="structmrpt_1_1utils_1_1_t_type_name.html" title="A template to obtain the type of its argument as a string at compile time.">TTypeName</a> <mrpt::math::<a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric</a><T,N,M> > {
<a name="l00168"></a><a class="code" href="structmrpt_1_1utils_1_1_t_type_name_3_01mrpt_1_1math_1_1_c_matrix_fixed_numeric_3_01_t_00_01_n_00_01_m_01_4_01_4.html#a4c2321fc7d1e934c25f2fb5628c0554c">00168</a> <span class="keyword">static</span> std::string <span class="keyword">get</span>() { <span class="keywordflow">return</span> <a class="code" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">mrpt::format</a>(<span class="stringliteral">"CMatrixFixedNumeric<%s,%u,%u>"</span>,<a class="code" href="structmrpt_1_1utils_1_1_t_type_name.html" title="A template to obtain the type of its argument as a string at compile time.">TTypeName<T>::get</a>().c_str(),(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>)N,(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>)M); }
<a name="l00169"></a>00169 };
<a name="l00170"></a>00170 }
<a name="l00171"></a>00171
<a name="l00172"></a>00172 } <span class="comment">// End of namespace</span>
<a name="l00173"></a>00173
<a name="l00174"></a>00174 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.2</a> for MRPT 0.9.4 SVN: at Mon Jan 10 22:30:30 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
