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<div class="title">ops_vectors.h</div> </div>
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<a href="ops__vectors_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://www.mrpt.org/ |</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 mrpt_math_vector_ops_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define mrpt_math_vector_ops_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_matrix_template_numeric_8h.html">mrpt/math/CMatrixTemplateNumeric.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="comment">// Many of the functions originally in this file are now in ops_containers.h</span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="ops__containers_8h.html" title="This file implements several operations that operate element-wise on individual or pairs of container...">mrpt/math/ops_containers.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="keyword">namespace </span>mrpt
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="keyword">namespace </span>utils { <span class="keyword">class </span>CFileStream; }
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="keyword">namespace </span>math
<a name="l00043"></a>00043 {<span class="comment"></span>
<a name="l00044"></a>00044 <span class="comment"> /** \addtogroup container_ops_grp</span>
<a name="l00045"></a>00045 <span class="comment"> * @{ */</span>
<a name="l00046"></a>00046 <span class="comment"></span>
<a name="l00047"></a>00047 <span class="comment"> /** \name Generic std::vector element-wise operations</span>
<a name="l00048"></a>00048 <span class="comment"> * @{</span>
<a name="l00049"></a>00049 <span class="comment"> */</span>
<a name="l00050"></a>00050 <span class="comment"></span>
<a name="l00051"></a>00051 <span class="comment"> /** a*=b (element-wise multiplication) */</span>
<a name="l00052"></a>00052 <span class="keyword">template</span> <<span class="keyword">typename</span> T1,<span class="keyword">typename</span> T2>
<a name="l00053"></a><a class="code" href="group__container__ops__grp.html#gabc43a80aa18fe8ffdfe69fed3ad115a9">00053</a> <span class="keyword">inline</span> std<a class="code" href="classstd_1_1vector.html" title="STL class.">::vector<T1></a>& <a class="code" href="group__container__ops__grp.html#gabc43a80aa18fe8ffdfe69fed3ad115a9" title="a*=b (element-wise multiplication)">operator *=</a>(<a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<T1></a>&a, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<T2></a>&b)
<a name="l00054"></a>00054 {
<a name="l00055"></a>00055 <a class="code" href="mrpt__macros_8h.html#a02c6e78d47a0bae723824559846cc673">ASSERT_EQUAL_</a>(a.size(),b.size())
<a name="l00056"></a>00056 <span class="keyword">const</span> <span class="keywordtype">size_t</span> N=a.size();
<a name="l00057"></a>00057 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<N;i++) a[i]*=b[i];
<a name="l00058"></a>00058 <span class="keywordflow">return</span> a;
<a name="l00059"></a>00059 }
<a name="l00060"></a>00060 <span class="comment"></span>
<a name="l00061"></a>00061 <span class="comment"> /** a*=k (multiplication by a constant) */</span>
<a name="l00062"></a>00062 <span class="keyword">template</span> <<span class="keyword">typename</span> T1>
<a name="l00063"></a><a class="code" href="group__container__ops__grp.html#gac10530e74882a9b76ce58891c386fb3e">00063</a> <span class="keyword">inline</span> std<a class="code" href="classstd_1_1vector.html" title="STL class.">::vector<T1></a>& <a class="code" href="group__container__ops__grp.html#gabc43a80aa18fe8ffdfe69fed3ad115a9" title="a*=b (element-wise multiplication)">operator *=</a>(<a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<T1></a>&a, <span class="keyword">const</span> T1 b)
<a name="l00064"></a>00064 {
<a name="l00065"></a>00065 <span class="keyword">const</span> <span class="keywordtype">size_t</span> N=a.size();
<a name="l00066"></a>00066 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<N;i++) a[i]*=b;
<a name="l00067"></a>00067 <span class="keywordflow">return</span> a;
<a name="l00068"></a>00068 }
<a name="l00069"></a>00069 <span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment"> /** a*b (element-wise multiplication) */</span>
<a name="l00071"></a>00071 <span class="keyword">template</span> <<span class="keyword">typename</span> T1,<span class="keyword">typename</span> T2>
<a name="l00072"></a><a class="code" href="group__container__ops__grp.html#ga6f2d8625a637a5a65585065331b5b0c5">00072</a> <span class="keyword">inline</span> std<a class="code" href="classstd_1_1vector.html" title="STL class.">::vector<T1></a> <a class="code" href="group__container__ops__grp.html#ga6f2d8625a637a5a65585065331b5b0c5" title="a*b (element-wise multiplication)">operator *</a>(<span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<T1></a>&a, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<T2></a>&b)
<a name="l00073"></a>00073 {
<a name="l00074"></a>00074 <a class="code" href="mrpt__macros_8h.html#a02c6e78d47a0bae723824559846cc673">ASSERT_EQUAL_</a>(a.size(),b.size())
<a name="l00075"></a>00075 <span class="keyword">const</span> <span class="keywordtype">size_t</span> N=a.size();
<a name="l00076"></a>00076 std<a class="code" href="classstd_1_1vector.html" title="STL class.">::vector<T1></a> ret(N);
<a name="l00077"></a>00077 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<N;i++) ret[i]=a[i]*b[i];
<a name="l00078"></a>00078 <span class="keywordflow">return</span> ret;
<a name="l00079"></a>00079 }
<a name="l00080"></a>00080 <span class="comment"></span>
<a name="l00081"></a>00081 <span class="comment"> /** a+=b (element-wise sum) */</span>
<a name="l00082"></a>00082 <span class="keyword">template</span> <<span class="keyword">typename</span> T1,<span class="keyword">typename</span> T2>
<a name="l00083"></a><a class="code" href="group__container__ops__grp.html#ga28127b8dfe78fea7644c4f2a3517cdef">00083</a> <span class="keyword">inline</span> std<a class="code" href="classstd_1_1vector.html" title="STL class.">::vector<T1></a>& <a class="code" href="group__container__ops__grp.html#ga28127b8dfe78fea7644c4f2a3517cdef" title="a+=b (element-wise sum)">operator +=</a>(<a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<T1></a>&a, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<T2></a>&b)
<a name="l00084"></a>00084 {
<a name="l00085"></a>00085 <a class="code" href="mrpt__macros_8h.html#a02c6e78d47a0bae723824559846cc673">ASSERT_EQUAL_</a>(a.size(),b.size())
<a name="l00086"></a>00086 <span class="keyword">const</span> <span class="keywordtype">size_t</span> N=a.size();
<a name="l00087"></a>00087 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<N;i++) a[i]+=b[i];
<a name="l00088"></a>00088 <span class="keywordflow">return</span> a;
<a name="l00089"></a>00089 }
<a name="l00090"></a>00090 <span class="comment"></span>
<a name="l00091"></a>00091 <span class="comment"> /** a+=b (sum a constant) */</span>
<a name="l00092"></a>00092 <span class="keyword">template</span> <<span class="keyword">typename</span> T1>
<a name="l00093"></a><a class="code" href="group__container__ops__grp.html#ga71e2799d7c3a1af520efe49a9d5aa5b3">00093</a> <span class="keyword">inline</span> std<a class="code" href="classstd_1_1vector.html" title="STL class.">::vector<T1></a>& <a class="code" href="group__container__ops__grp.html#ga28127b8dfe78fea7644c4f2a3517cdef" title="a+=b (element-wise sum)">operator +=</a>(<a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<T1></a>&a, <span class="keyword">const</span> T1 b)
<a name="l00094"></a>00094 {
<a name="l00095"></a>00095 <span class="keyword">const</span> <span class="keywordtype">size_t</span> N=a.size();
<a name="l00096"></a>00096 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<N;i++) a[i]+=b;
<a name="l00097"></a>00097 <span class="keywordflow">return</span> a;
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099 <span class="comment"></span>
<a name="l00100"></a>00100 <span class="comment"> /** a+b (element-wise sum) */</span>
<a name="l00101"></a>00101 <span class="keyword">template</span> <<span class="keyword">typename</span> T1,<span class="keyword">typename</span> T2>
<a name="l00102"></a><a class="code" href="group__container__ops__grp.html#ga5a1ef801e13687370311dd36eaae6e08">00102</a> <span class="keyword">inline</span> std<a class="code" href="classstd_1_1vector.html" title="STL class.">::vector<T1></a> <a class="code" href="group__container__ops__grp.html#ga5a1ef801e13687370311dd36eaae6e08" title="a+b (element-wise sum)">operator +</a>(<span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<T1></a>&a, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<T2></a>&b)
<a name="l00103"></a>00103 {
<a name="l00104"></a>00104 <a class="code" href="mrpt__macros_8h.html#a02c6e78d47a0bae723824559846cc673">ASSERT_EQUAL_</a>(a.size(),b.size())
<a name="l00105"></a>00105 <span class="keyword">const</span> <span class="keywordtype">size_t</span> N=a.size();
<a name="l00106"></a>00106 std<a class="code" href="classstd_1_1vector.html" title="STL class.">::vector<T1></a> ret(N);
<a name="l00107"></a>00107 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<N;i++) ret[i]=a[i]+b[i];
<a name="l00108"></a>00108 <span class="keywordflow">return</span> ret;
<a name="l00109"></a>00109 }
<a name="l00110"></a>00110
<a name="l00111"></a>00111 <span class="keyword">template</span> <<span class="keyword">typename</span> T1,<span class="keyword">typename</span> T2>
<a name="l00112"></a><a class="code" href="group__container__ops__grp.html#gaaab8379a4418a0a0f60d5a147cad111b">00112</a> <span class="keyword">inline</span> std<a class="code" href="classstd_1_1vector.html" title="STL class.">::vector<T1></a> <a class="code" href="group__geometry__grp.html#ga41dd79738f6a27f4b63ee22080eec843" title="Unary minus operator for 3D points.">operator -</a>(<span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<T1></a> &v1, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<T2></a>&v2) {
<a name="l00113"></a>00113 <a class="code" href="mrpt__macros_8h.html#a02c6e78d47a0bae723824559846cc673">ASSERT_EQUAL_</a>(v1.size(),v2.size())
<a name="l00114"></a>00114 <a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector<T1></a> res(v1.size());
<a name="l00115"></a>00115 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<v1.size();i++) res[i]=v1[i]-v2[i];
<a name="l00116"></a>00116 <span class="keywordflow">return</span> res;
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118 <span class="comment"></span>
<a name="l00119"></a>00119 <span class="comment"> /** @} */</span>
<a name="l00120"></a>00120
<a name="l00121"></a>00121 <span class="comment"></span>
<a name="l00122"></a>00122 <span class="comment"> /** A template function for printing out the contents of a std::vector variable.</span>
<a name="l00123"></a>00123 <span class="comment"> */</span>
<a name="l00124"></a>00124 <span class="keyword">template</span> <<span class="keyword">class</span> T>
<a name="l00125"></a><a class="code" href="group__container__ops__grp.html#ga7fc98d4bb0f7c1ff3b8256ca3ad0420d">00125</a> std<a class="code" href="classstd_1_1ostream.html" title="STL class.">::ostream</a>& operator << (std::ostream& out, const std::vector<T> &d)
<a name="l00126"></a>00126 {
<a name="l00127"></a>00127 <span class="keyword">const</span> std::streamsize old_pre = out.precision();
<a name="l00128"></a>00128 <span class="keyword">const</span> std::ios_base::fmtflags old_flags = out.flags();
<a name="l00129"></a>00129 out << <span class="stringliteral">"["</span> << std::fixed << std::setprecision(4);
<a name="l00130"></a>00130 copy(d.begin(),d.end(), std::ostream_iterator<T>(out,<span class="stringliteral">" "</span>));
<a name="l00131"></a>00131 out << <span class="stringliteral">"]"</span>;
<a name="l00132"></a>00132 out.flags(old_flags);
<a name="l00133"></a>00133 out.precision(old_pre);
<a name="l00134"></a>00134 <span class="keywordflow">return</span> out;
<a name="l00135"></a>00135 }
<a name="l00136"></a>00136 <span class="comment"></span>
<a name="l00137"></a>00137 <span class="comment"> /** A template function for printing out the contents of a std::vector variable.</span>
<a name="l00138"></a>00138 <span class="comment"> */</span>
<a name="l00139"></a>00139 <span class="keyword">template</span> <<span class="keyword">class</span> T>
<a name="l00140"></a><a class="code" href="group__container__ops__grp.html#ga2ec8586ed310af79626693f7cd1ccd9e">00140</a> std<a class="code" href="classstd_1_1ostream.html" title="STL class.">::ostream</a>& operator << (std::ostream& out, std::vector<T> *d)
<a name="l00141"></a>00141 {
<a name="l00142"></a>00142 <span class="keyword">const</span> std::streamsize old_pre = out.precision();
<a name="l00143"></a>00143 <span class="keyword">const</span> std::ios_base::fmtflags old_flags = out.flags();
<a name="l00144"></a>00144 out << <span class="stringliteral">"["</span> << std::fixed << std::setprecision(4);
<a name="l00145"></a>00145 copy(d->begin(),d->end(), std::ostream_iterator<T>(out,<span class="stringliteral">" "</span>));
<a name="l00146"></a>00146 out << <span class="stringliteral">"]"</span>;
<a name="l00147"></a>00147 out.flags(old_flags);
<a name="l00148"></a>00148 out.precision(old_pre);
<a name="l00149"></a>00149 <span class="keywordflow">return</span> out;
<a name="l00150"></a>00150 }
<a name="l00151"></a>00151 <span class="comment"></span>
<a name="l00152"></a>00152 <span class="comment"> /** Binary dump of a CArrayNumeric<T,N> to a stream. */</span>
<a name="l00153"></a>00153 <span class="keyword">template</span> <<span class="keyword">typename</span> T,<span class="keywordtype">size_t</span> N>
<a name="l00154"></a><a class="code" href="group__container__ops__grp.html#ga2d62813611cfc616822f8f5b17e184bd">00154</a> mrpt<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">::utils::CStream</a>& operator << (mrpt::utils::CStream& ostrm, const CArrayNumeric<T,N>& a)
<a name="l00155"></a>00155 {
<a name="l00156"></a>00156 ostrm << mrpt::utils::TTypeName< CArrayNumeric<T,N> >::get();
<a name="l00157"></a>00157 <span class="keywordflow">if</span> (N) ostrm.WriteBufferFixEndianness<T>(&a[0],N);
<a name="l00158"></a>00158 <span class="keywordflow">return</span> ostrm;
<a name="l00159"></a>00159 }
<a name="l00160"></a>00160 <span class="comment"></span>
<a name="l00161"></a>00161 <span class="comment"> /** Binary read of a CArrayNumeric<T,N> from a stream. */</span>
<a name="l00162"></a>00162 <span class="keyword">template</span> <<span class="keyword">typename</span> T,<span class="keywordtype">size_t</span> N>
<a name="l00163"></a><a class="code" href="group__container__ops__grp.html#ga8c224ad670b1c017f3be1c075fd82b1f">00163</a> mrpt<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">::utils::CStream</a>& <a class="code" href="namespacemrpt_1_1math.html#ab55e39255f4b544e7693867d22a70b91">operator >> </a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">mrpt::utils::CStream</a>& istrm, <a class="code" href="classmrpt_1_1math_1_1_c_array_numeric.html" title="CArrayNumeric is an array for numeric types supporting several mathematical operations (actually...">CArrayNumeric<T,N></a>& a)
<a name="l00164"></a>00164 {
<a name="l00165"></a>00165 <span class="keyword">static</span> <span class="keyword">const</span> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> namExpect = mrpt<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.">::utils::TTypeName< CArrayNumeric<T,N></a> >::get();
<a name="l00166"></a>00166 std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> nam;
<a name="l00167"></a>00167 istrm >> nam;
<a name="l00168"></a>00168 <a class="code" href="mrpt__macros_8h.html#ad30ea0382c594c0e2efe88212e9352b0">ASSERTMSG_</a>(nam==namExpect, <a class="code" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">format</a>(<span class="stringliteral">"Error deserializing: expected '%s', got '%s'"</span>, namExpect.c_str(),nam.c_str() ) )
<a name="l00169"></a>00169 <span class="keywordflow">if</span> (N) istrm.<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html#ab3f8382b9a971abc79414464fffc7937" title="Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream s...">ReadBufferFixEndianness</a><T>(&a[0],N);
<a name="l00170"></a>00170 <span class="keywordflow">return</span> istrm;
<a name="l00171"></a>00171 }
<a name="l00172"></a>00172
<a name="l00173"></a>00173 <span class="comment"></span>
<a name="l00174"></a>00174 <span class="comment"> /** @} */</span> <span class="comment">// end of grouping</span>
<a name="l00175"></a>00175
<a name="l00176"></a>00176 } <span class="comment">// End of math namespace</span>
<a name="l00177"></a>00177
<a name="l00178"></a>00178 } <span class="comment">// End of mrpt namespace</span>
<a name="l00179"></a>00179
<a name="l00180"></a>00180
<a name="l00181"></a>00181 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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