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<div class="title">ops_matrices.h File Reference</div> </div>
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<p>This file implements miscelaneous matrix and matrix/vector operations, plus internal functions in <a class="el" href="namespacemrpt_1_1math_1_1detail.html">mrpt::math::detail</a>.
<a href="#details">More...</a></p>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This file implements miscelaneous matrix and matrix/vector operations, plus internal functions in <a class="el" href="namespacemrpt_1_1math_1_1detail.html">mrpt::math::detail</a>. </p>
<p>Definition in file <a class="el" href="ops__matrices_8h_source.html">ops_matrices.h</a>.</p>
</div><div class="textblock"><code>#include <<a class="el" href="math__frwds_8h_source.html">mrpt/math/math_frwds.h</a>></code><br/>
<code>#include <<a class="el" href="_c_matrix_8h_source.html">mrpt/math/CMatrix.h</a>></code><br/>
<code>#include <<a class="el" href="_c_matrix_d_8h_source.html">mrpt/math/CMatrixD.h</a>></code><br/>
<code>#include <<a class="el" href="_c_stream_8h_source.html">mrpt/utils/CStream.h</a>></code><br/>
<code>#include <<a class="el" href="_c_matrix_template_numeric_8h_source.html">mrpt/math/CMatrixTemplateNumeric.h</a>></code><br/>
<code>#include <<a class="el" href="_c_matrix_fixed_numeric_8h_source.html">mrpt/math/CMatrixFixedNumeric.h</a>></code><br/>
<code>#include <<a class="el" href="ops__containers_8h_source.html">mrpt/math/ops_containers.h</a>></code><br/>
<code>#include <<a class="el" href="metaprogramming_8h_source.html">mrpt/utils/metaprogramming.h</a>></code><br/>
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<table class="memberdecls">
<tr><td colspan="2"><h2><a name="namespaces"></a>
Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt.html">mrpt</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries. </p>
<br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1math.html">mrpt::math</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>This base provides a set of functions for maths stuff. </p>
<br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1math_1_1detail.html">mrpt::math::detail</a></td></tr>
<tr><td colspan="2"><h2><a name="define-members"></a>
Defines</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="ops__matrices_8h.html#a462cb509d2376fdf42659d059685ca08">SAVE_MATRIX</a>(M)   M.saveToTextFile(#M ".txt");</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A useful macro for saving matrixes to a file while debugging. <a href="#a462cb509d2376fdf42659d059685ca08"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class Derived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">const <a class="el" href="class_eigen_1_1_matrix_base.html">Eigen::MatrixBase</a><br class="typebreak"/>
< Derived >::AdjointReturnType </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gab02e2e15de033aa2c5f47096964361ec">mrpt::math::operator~</a> (const <a class="el" href="class_eigen_1_1_matrix_base.html">Eigen::MatrixBase</a>< Derived > &m)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Transpose operator for matrices. <a href="group__container__ops__grp.html#gab02e2e15de033aa2c5f47096964361ec"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class Derived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_matrix_base.html">Eigen::MatrixBase</a>< Derived ><br class="typebreak"/>
::PlainObject </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gae6aca84fb7a8bb647f606d59facd1e66">mrpt::math::operator!</a> (const <a class="el" href="class_eigen_1_1_matrix_base.html">Eigen::MatrixBase</a>< Derived > &m)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Unary inversion operator. <a href="group__container__ops__grp.html#gae6aca84fb7a8bb647f606d59facd1e66"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename MAT_H , typename MAT_C , typename MAT_R > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1math.html#ad9a424a973f0598f255924a9c89c07f7">mrpt::math::multiply_HCHt</a> (const MAT_H &H, const MAT_C &C, MAT_R &R, bool accumResultInOutput)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">R = H * C * H^t (with C symmetric) <a href="#ad9a424a973f0598f255924a9c89c07f7"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename VECTOR_H , typename MAT_C > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="eigen__plugins_8h.html#afd07186978da46f9908364e389f8a403">MAT_C::value_type</a> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1math.html#aa8357cce481e22376ecadae393167977">mrpt::math::multiply_HCHt_scalar</a> (const VECTOR_H &H, const MAT_C &C)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">r (a scalar) = H * C * H^t (with a vector H and a symmetric matrix C) <a href="#aa8357cce481e22376ecadae393167977"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename MAT_H , typename MAT_C , typename MAT_R > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1math.html#a49f1d85587f29a9d6691973452a3b2a0">mrpt::math::multiply_HtCH</a> (const MAT_H &H, const MAT_C &C, MAT_R &R, bool accumResultInOutput)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">R = H^t * C * H (with C symmetric) <a href="#a49f1d85587f29a9d6691973452a3b2a0"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class MAT_IN , class VECTOR , class MAT_OUT > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1math.html#ae8d48c1203173296453a12b174ed932c">mrpt::math::meanAndCovMat</a> (const MAT_IN &v, VECTOR &out_mean, MAT_OUT &out_cov)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="#ae8d48c1203173296453a12b174ed932c"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class MATRIX > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a>< typename <br class="typebreak"/>
MATRIX::Scalar, <br class="typebreak"/>
MATRIX::ColsAtCompileTime, <br class="typebreak"/>
MATRIX::ColsAtCompileTime > </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1math.html#a43f4e051fc574fd75b6800ad4fb25037">mrpt::math::cov</a> (const MATRIX &v)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample, so the covariance is MxM. <a href="#a43f4e051fc574fd75b6800ad4fb25037"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class MAT_A , class SKEW_3VECTOR , class MAT_OUT > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1math.html#ad21f2859644b754aba9a1392503a9776">mrpt::math::multiply_A_skew3</a> (const MAT_A &A, const SKEW_3VECTOR &v, MAT_OUT &out)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Only for vectors/arrays "v" of length3, compute out = A * Skew(v), where Skew(v) is the skew symmetric matric generated from <em>v</em> (see <a class="el" href="group__geometry__grp.html#ga1d062ce80412bd12f853b032f7822edb" title="Computes the 3x3 skew symmetric matrix from a 3-vector or 3-array: .">mrpt::math::skew_symmetric3</a>) <a href="#ad21f2859644b754aba9a1392503a9776"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class SKEW_3VECTOR , class MAT_A , class MAT_OUT > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1math.html#a134f1d14fa12f25cbc82fa36faf59393">mrpt::math::multiply_skew3_A</a> (const SKEW_3VECTOR &v, const MAT_A &A, MAT_OUT &out)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Only for vectors/arrays "v" of length3, compute out = Skew(v) * A, where Skew(v) is the skew symmetric matric generated from <em>v</em> (see <a class="el" href="group__geometry__grp.html#ga1d062ce80412bd12f853b032f7822edb" title="Computes the 3x3 skew symmetric matrix from a 3-vector or 3-array: .">mrpt::math::skew_symmetric3</a>) <a href="#a134f1d14fa12f25cbc82fa36faf59393"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class MATORG , class MATDEST > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1math_1_1detail.html#aa19b24dfb9f42a5339d2abf59dc97f27">mrpt::math::detail::extractMatrix</a> (const MATORG &M, const size_t first_row, const size_t first_col, MATDEST &outMat)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Extract a submatrix - The output matrix must be set to the required size before call. <a href="#aa19b24dfb9f42a5339d2abf59dc97f27"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Operators for binary streaming of MRPT matrices</div></td></tr>
<tr><td class="memTemplParams" colspan="2">template<size_t NROWS, size_t NCOLS> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga56a2bcbd3e333c77935a7e54d6eb9466">mrpt::math::operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, CMatrixFixedNumeric< float, NROWS, NCOLS > &M)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Read operator from a CStream. <a href="group__container__ops__grp.html#ga56a2bcbd3e333c77935a7e54d6eb9466"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<size_t NROWS, size_t NCOLS> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga745fc9af0a39075b935a4b84c0b392b1">mrpt::math::operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, CMatrixFixedNumeric< double, NROWS, NCOLS > &M)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Read operator from a CStream. <a href="group__container__ops__grp.html#ga745fc9af0a39075b935a4b84c0b392b1"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<size_t NROWS, size_t NCOLS> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga22527dc2d242a466ca2bcd8f1656594b">mrpt::math::operator<<</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, const CMatrixFixedNumeric< float, NROWS, NCOLS > &M)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Write operator for writing into a CStream. <a href="group__container__ops__grp.html#ga22527dc2d242a466ca2bcd8f1656594b"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<size_t NROWS, size_t NCOLS> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga0a1091c4d09339131c04d59c9b534a58">mrpt::math::operator<<</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, const CMatrixFixedNumeric< double, NROWS, NCOLS > &M)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Write operator for writing into a CStream. <a href="group__container__ops__grp.html#ga0a1091c4d09339131c04d59c9b534a58"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Operators for text streaming of MRPT matrices</div></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T , size_t NROWS, size_t NCOLS> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1ostream.html">std::ostream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga91b22de0057ca91e09f29a4b56e26976">mrpt::math::operator<<</a> (<a class="el" href="classstd_1_1ostream.html">std::ostream</a> &s, const CMatrixFixedNumeric< T, NROWS, NCOLS > &m)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output. <a href="group__container__ops__grp.html#ga91b22de0057ca91e09f29a4b56e26976"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1ostream.html">std::ostream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga76d0eeef79e0687814bdee2a24a4c070">mrpt::math::operator<<</a> (<a class="el" href="classstd_1_1ostream.html">std::ostream</a> &s, const CMatrixTemplateNumeric< T > &m)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output. <a href="group__container__ops__grp.html#ga76d0eeef79e0687814bdee2a24a4c070"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1ostream.html">std::ostream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga19bbefb659826b1e442bd8cf628b1507">mrpt::math::operator<<</a> (<a class="el" href="classstd_1_1ostream.html">std::ostream</a> &s, const <a class="el" href="structmrpt_1_1dynamicsize__vector.html">mrpt::dynamicsize_vector</a>< T > &m)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Dumps the vector as a row to a text ostream, with the format: "[v1 v2 v3... vN]". <a href="group__container__ops__grp.html#ga19bbefb659826b1e442bd8cf628b1507"></a><br/></td></tr>
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<hr/><h2>Define Documentation</h2>
<a class="anchor" id="a462cb509d2376fdf42659d059685ca08"></a><!-- doxytag: member="ops_matrices.h::SAVE_MATRIX" ref="a462cb509d2376fdf42659d059685ca08" args="(M)" -->
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<td class="memname">#define SAVE_MATRIX</td>
<td>(</td>
<td class="paramtype"> </td>
<td class="paramname">M</td><td>)</td>
<td>   M.saveToTextFile(#M ".txt");</td>
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<p>A useful macro for saving matrixes to a file while debugging. </p>
<p>Definition at line <a class="el" href="ops__matrices_8h_source.html#l00242">242</a> of file <a class="el" href="ops__matrices_8h_source.html">ops_matrices.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
