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<div class="title">utils.h File Reference</div> </div>
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<div class="textblock"><code>#include <<a class="el" href="utils__defs_8h_source.html">mrpt/utils/utils_defs.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="_c_histogram_8h_source.html">mrpt/math/CHistogram.h</a>></code><br/>
<code>#include <<a class="el" href="ops__vectors_8h_source.html">mrpt/math/ops_vectors.h</a>></code><br/>
<code>#include <<a class="el" href="ops__matrices_8h_source.html">mrpt/math/ops_matrices.h</a>></code><br/>
<code>#include <numeric></code><br/>
<code>#include <cmath></code><br/>
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Include dependency graph for base/include/mrpt/math/utils.h:</div>
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<p><a href="base_2include_2mrpt_2math_2utils_8h_source.html">Go to the source code of this file.</a></p>
<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>
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<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>
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<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool BASE_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga40e8e47dea9f504a28d2a70ea8ddb158">mrpt::math::loadVector</a> (utils::CFileStream &f, <a class="el" href="classstd_1_1vector.html">std::vector</a>< int > &d)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Loads one row of a text file as a numerical <a class="el" href="classstd_1_1vector.html" title="STL class.">std::vector</a>. <a href="group__container__ops__grp.html#ga40e8e47dea9f504a28d2a70ea8ddb158"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool BASE_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga4b6641faf04526ff4cee645370007ae1">mrpt::math::loadVector</a> (utils::CFileStream &f, <a class="el" href="classstd_1_1vector.html">std::vector</a>< double > &d)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Loads one row of a text file as a numerical <a class="el" href="classstd_1_1vector.html" title="STL class.">std::vector</a>. <a href="group__container__ops__grp.html#ga4b6641faf04526ff4cee645370007ae1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool BASE_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga0789f5c3dde7a158cb9780f6061ddcc6">mrpt::math::isNaN</a> (float f) MRPT_NO_THROWS</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns true if the number is NaN. <a href="group__container__ops__grp.html#ga0789f5c3dde7a158cb9780f6061ddcc6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool BASE_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gaf51d0919fb678849dd010440fc6c7e3d">mrpt::math::isNaN</a> (double f) MRPT_NO_THROWS</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns true if the number is NaN. <a href="group__container__ops__grp.html#gaf51d0919fb678849dd010440fc6c7e3d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool BASE_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gaf4a419952a205931911e0a5627a192fe">mrpt::math::isFinite</a> (float f) MRPT_NO_THROWS</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns true if the number is non infinity. <a href="group__container__ops__grp.html#gaf4a419952a205931911e0a5627a192fe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool BASE_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga2ebfac97f79a8835217cccf46b1e229f">mrpt::math::isFinite</a> (double f) MRPT_NO_THROWS</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns true if the number is non infinity. <a href="group__container__ops__grp.html#ga2ebfac97f79a8835217cccf46b1e229f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void BASE_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gafa11ba6f88e921e59b8971131fb1ec06">mrpt::math::medianFilter</a> (const <a class="el" href="classstd_1_1vector.html">std::vector</a>< double > &inV, <a class="el" href="classstd_1_1vector.html">std::vector</a>< double > &outV, const int &winSize, const int &numberOfSigmas=2)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T , typename VECTOR > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gac77eb1a332f0b7cd60ecf5918d2f4a9a">mrpt::math::linspace</a> (T first, T last, size_t count, VECTOR &out_vector)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generates an equidistant sequence of numbers given the first one, the last one and the desired number of points. <a href="group__container__ops__grp.html#gac77eb1a332f0b7cd60ecf5918d2f4a9a"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a>< T, <br class="typebreak"/>
<a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a>, 1 > </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga2971708259446f11d677f849d0b8a07d">mrpt::math::linspace</a> (T first, T last, size_t count)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generates an equidistant sequence of numbers given the first one, the last one and the desired number of points. <a href="group__container__ops__grp.html#ga2971708259446f11d677f849d0b8a07d"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T , T STEP> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a>< T, <br class="typebreak"/>
<a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a>, 1 > </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga9b7b817146f7f39b83e3b3fbe2225ca5">mrpt::math::sequence</a> (T first, size_t length)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generates a sequence of values [first,first+STEP,first+2*STEP,...]. <a href="group__container__ops__grp.html#ga9b7b817146f7f39b83e3b3fbe2225ca5"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T , T STEP> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< T > </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga897c75f8fa614c54da6c0500b869f2a1">mrpt::math::sequenceStdVec</a> (T first, size_t length)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generates a sequence of values [first,first+STEP,first+2*STEP,...]. <a href="group__container__ops__grp.html#ga897c75f8fa614c54da6c0500b869f2a1"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a>< T, <br class="typebreak"/>
<a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a>, 1 > </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gaee0433b2568e6a7847b0841d08722a51">mrpt::math::ones</a> (size_t count)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generates a vector of all ones of the given length. <a href="group__container__ops__grp.html#gaee0433b2568e6a7847b0841d08722a51"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a>< T, <br class="typebreak"/>
<a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a>, 1 > </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga6a0207f476314788b520568a0a16afc1">mrpt::math::zeros</a> (size_t count)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generates a vector of all zeros of the given length. <a href="group__container__ops__grp.html#ga6a0207f476314788b520568a0a16afc1"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gaf3dcff278e3ccf372395351cfbb4d3dd">mrpt::math::wrapTo2PiInPlace</a> (T &a)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Modifies the given angle to translate it into the [0,2pi[ range. <a href="group__container__ops__grp.html#gaf3dcff278e3ccf372395351cfbb4d3dd"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">T </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga81ffbc190c3274c294a71aad568e98e3">mrpt::math::wrapTo2Pi</a> (T a)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Modifies the given angle to translate it into the [0,2pi[ range. <a href="group__container__ops__grp.html#ga81ffbc190c3274c294a71aad568e98e3"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">T </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gaa2ddb99c5a5532075417f855b1c132fd">mrpt::math::wrapToPi</a> (T a)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Modifies the given angle to translate it into the ]-pi,pi] range. <a href="group__container__ops__grp.html#gaa2ddb99c5a5532075417f855b1c132fd"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga69ca7c53c45b1f99c69b45f40ef41e42">mrpt::math::wrapToPiInPlace</a> (T &a)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Modifies the given angle to translate it into the ]-pi,pi] range. <a href="group__container__ops__grp.html#ga69ca7c53c45b1f99c69b45f40ef41e42"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class VEC1 , class VEC2 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gab64bd509dec6f39f1db1086bd48b5f45">mrpt::math::normalize</a> (const VEC1 &v, VEC2 &out_v)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Normalize a vector, such as its norm is the unity. <a href="group__container__ops__grp.html#gab64bd509dec6f39f1db1086bd48b5f45"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class VECTOR_OF_VECTORS , class MATRIXLIKE , class VECTORLIKE , class VECTORLIKE2 , class VECTORLIKE3 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__stats__grp.html#gaf0a0f292b7248680014f55effd35873f">mrpt::math::covariancesAndMeanWeighted</a> (const VECTOR_OF_VECTORS &elements, MATRIXLIKE &covariances, VECTORLIKE &means, const VECTORLIKE2 *weights_mean, const VECTORLIKE3 *weights_cov, const bool *elem_do_wrap2pi=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes covariances and mean of any vector of containers, given optional weights for the different samples. <a href="group__stats__grp.html#gaf0a0f292b7248680014f55effd35873f"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class VECTOR_OF_VECTORS , class MATRIXLIKE , class VECTORLIKE > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__stats__grp.html#gaa1cf7357c4043fb790efe19d3f6c2b7d">mrpt::math::covariancesAndMean</a> (const VECTOR_OF_VECTORS &elements, MATRIXLIKE &covariances, VECTORLIKE &means, const bool *elem_do_wrap2pi=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes covariances and mean of any vector of containers. <a href="group__stats__grp.html#gaa1cf7357c4043fb790efe19d3f6c2b7d"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class VECTORLIKE1 , class VECTORLIKE2 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga4ca4d8616fc5c34fbaddd4d479060b91">mrpt::math::weightedHistogram</a> (const VECTORLIKE1 &values, const VECTORLIKE1 &weights, float binWidth, VECTORLIKE2 &out_binCenters, VECTORLIKE2 &out_binValues)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the weighted histogram for a vector of values and their corresponding weights. <a href="group__container__ops__grp.html#ga4ca4d8616fc5c34fbaddd4d479060b91"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class VECTORLIKE1 , class VECTORLIKE2 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gabc0b6008e33cc8852a18b746d2fa84d4">mrpt::math::weightedHistogramLog</a> (const VECTORLIKE1 &values, const VECTORLIKE1 &log_weights, float binWidth, VECTORLIKE2 &out_binCenters, VECTORLIKE2 &out_binValues)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the weighted histogram for a vector of values and their corresponding log-weights. <a href="group__container__ops__grp.html#gabc0b6008e33cc8852a18b746d2fa84d4"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class VECTOR_OF_VECTORS , class VECTORLIKE > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga7e35ac8264c0ad08d184f5e50ceca5d6">mrpt::math::extractColumnFromVectorOfVectors</a> (const size_t colIndex, const VECTOR_OF_VECTORS &data, VECTORLIKE &out_column)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Extract a column from a vector of vectors, and store it in another vector. <a href="group__container__ops__grp.html#ga7e35ac8264c0ad08d184f5e50ceca5d6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint64_t BASE_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gabde7e0c25e9bb6a0a962f8051fe8c19d">mrpt::math::factorial64</a> (unsigned int n)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the factorial of an integer number and returns it as a 64-bit integer number. <a href="group__container__ops__grp.html#gabde7e0c25e9bb6a0a962f8051fe8c19d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double BASE_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga2fbe27097242531b344c8d5b9fe148c9">mrpt::math::factorial</a> (unsigned int n)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the factorial of an integer number and returns it as a double value (internally it uses logarithms for avoiding overflow). <a href="group__container__ops__grp.html#ga2fbe27097242531b344c8d5b9fe148c9"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">T </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gae238d11a8827f1a9d10792fb8d26b0a1">mrpt::math::round2up</a> (T val)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Round up to the nearest power of two of a given number. <a href="group__container__ops__grp.html#gae238d11a8827f1a9d10792fb8d26b0a1"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">T </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga2b186cb9b674da4aa7b697fe8cd57567">mrpt::math::round_10power</a> (T val, int power10)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Round a decimal number up to the given 10'th power (eg, to 1000,100,10, and also fractions) power10 means round up to: 1 -> 10, 2 -> 100, 3 -> 1000, ... <a href="group__container__ops__grp.html#ga2b186cb9b674da4aa7b697fe8cd57567"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">double </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga914e0802031e773745a2c99c3aebdec1">mrpt::math::correlate_matrix</a> (const CMatrixTemplateNumeric< T > &a1, const CMatrixTemplateNumeric< T > &a2)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calculate the correlation between two matrices (by AJOGD @ JAN-2007) <a href="group__container__ops__grp.html#ga914e0802031e773745a2c99c3aebdec1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double BASE_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__stats__grp.html#ga6cb458d9d6c45fae59084fc57e88666b">mrpt::math::averageLogLikelihood</a> (const vector_double &logLikelihoods)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A numerically-stable method to compute average likelihood values with strongly different ranges (unweighted likelihoods: compute the arithmetic mean). <a href="group__stats__grp.html#ga6cb458d9d6c45fae59084fc57e88666b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double BASE_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__stats__grp.html#ga3bd9ff688b42b58bd8c2f5d6f420868f">mrpt::math::averageWrap2Pi</a> (const vector_double &angles)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the average of a sequence of angles in radians taking into account the correct wrapping in the range <img class="formulaInl" alt="$ ]-\pi,\pi [ $" src="form_36.png"/>, for example, the mean of (2,-2) is <img class="formulaInl" alt="$ \pi $" src="form_37.png"/>, not 0. <a href="group__stats__grp.html#ga3bd9ff688b42b58bd8c2f5d6f420868f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double BASE_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__stats__grp.html#gaecd0c40688b7bd9e4554e8180f05f07a">mrpt::math::averageLogLikelihood</a> (const vector_double &logWeights, const vector_double &logLikelihoods)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A numerically-stable method to average likelihood values with strongly different ranges (weighted likelihoods). <a href="group__stats__grp.html#gaecd0c40688b7bd9e4554e8180f05f07a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> BASE_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__stats__grp.html#ga9cbd4ab1844fcd749cfafff8a5f592a1">mrpt::math::MATLAB_plotCovariance2D</a> (const CMatrixFloat &cov22, const vector_float &mean, const float &stdCount, const <a class="el" href="classstd_1_1string.html">std::string</a> &style=<a class="el" href="classstd_1_1string.html">std::string</a>("b"), const size_t &nEllipsePoints=30)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generates a string with the MATLAB commands required to plot an confidence interval (ellipse) for a 2D Gaussian ('float' version). <a href="group__stats__grp.html#ga9cbd4ab1844fcd749cfafff8a5f592a1"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class MATRIXLIKE1 , class MATRIXLIKE2 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga65a4cb93289c9373a8830102a2296e2d">mrpt::math::homogeneousMatrixInverse</a> (const MATRIXLIKE1 &M, MATRIXLIKE2 &out_inverse_M)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Efficiently compute the inverse of a 4x4 homogeneous matrix by only transposing the rotation 3x3 part and solving the translation with dot products. <a href="group__container__ops__grp.html#ga65a4cb93289c9373a8830102a2296e2d"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class IN_ROTMATRIX , class IN_XYZ , class OUT_ROTMATRIX , class OUT_XYZ > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga44be80165962896f21d32ee9a2098ff0">mrpt::math::homogeneousMatrixInverse</a> (const IN_ROTMATRIX &in_R, const IN_XYZ &in_xyz, OUT_ROTMATRIX &out_R, OUT_XYZ &out_xyz)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<class MATRIXLIKE > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gab0feb72f7a668233a13350ecf4a942a3">mrpt::math::homogeneousMatrixInverse</a> (MATRIXLIKE &M)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<class VECTORLIKE , class VECTORLIKE2 , class VECTORLIKE3 , class MATRIXLIKE , class USERPARAM > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga13e2e339d944b37f2386fc4e0bb56935">mrpt::math::estimateJacobian</a> (const VECTORLIKE &x, void(*functor)(const VECTORLIKE &x, const USERPARAM &y, VECTORLIKE3 &out), const VECTORLIKE2 &increments, const USERPARAM &userParam, MATRIXLIKE &out_Jacobian)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Estimate the Jacobian of a multi-dimensional function around a point "x", using finite differences of a given size in each input dimension. <a href="group__container__ops__grp.html#ga13e2e339d944b37f2386fc4e0bb56935"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T , typename At , size_t N> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< T > & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga3f52023c60b58a0d49abca36d14d880e">mrpt::math::loadVector</a> (<a class="el" href="classstd_1_1vector.html">std::vector</a>< T > &v, At(&theArray)[N])</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Assignment operator for initializing a <a class="el" href="classstd_1_1vector.html" title="STL class.">std::vector</a> from a C array (The vector will be automatically set to the correct size). <a href="group__container__ops__grp.html#ga3f52023c60b58a0d49abca36d14d880e"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename Derived , typename At , size_t N> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="struct_eigen_1_1_eigen_base.html">Eigen::EigenBase</a>< Derived > & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga37ffa47225a54cc4effc4b666a99bf8c">mrpt::math::loadVector</a> (<a class="el" href="struct_eigen_1_1_eigen_base.html">Eigen::EigenBase</a>< Derived > &v, At(&theArray)[N])</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga6b94c41c7406e0d606111a7b771b72e0">mrpt::math::unwrap2PiSequence</a> (vector_double &x)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Modify a sequence of angle values such as no consecutive values have a jump larger than PI in absolute value. <a href="group__container__ops__grp.html#ga6b94c41c7406e0d606111a7b771b72e0"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<size_t N, typename T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< T > </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gae0851fd327043ae2a7054c33a3bbfcde">mrpt::math::make_vector</a> (const T val1,...)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A versatile template to build vectors on-the-fly in a style close to MATLAB's v=[a b c d ...] The first argument of the template is the vector length, and the second the type of the numbers. <a href="group__container__ops__grp.html#gae0851fd327043ae2a7054c33a3bbfcde"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class T , class VECTOR > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">T </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__interpolation__grp.html#gaeb1c0badda6737f8362ce902e10961dc">mrpt::math::interpolate</a> (const T &x, const VECTOR &ys, const T &x0, const T &x1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Interpolate a data sequence "ys" ranging from "x0" to "x1" (equally spaced), to obtain the approximation of the sequence at the point "x". <a href="group__interpolation__grp.html#gaeb1c0badda6737f8362ce902e10961dc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double BASE_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interpolation__grp.html#ga199ae09bf97644048fe53590964abd1b">mrpt::math::interpolate2points</a> (const double x, const double x0, const double y0, const double x1, const double y1, bool wrap2pi=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Linear interpolation/extrapolation: evaluates at "x" the line (x0,y0)-(x1,y1). <a href="group__interpolation__grp.html#ga199ae09bf97644048fe53590964abd1b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double BASE_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interpolation__grp.html#gadab1f3df3e592268d89214b345f7f816">mrpt::math::spline</a> (const double t, const vector_double &x, const vector_double &y, bool wrap2pi=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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). <a href="group__interpolation__grp.html#gadab1f3df3e592268d89214b345f7f816"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename NUMTYPE , class VECTORLIKE > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">NUMTYPE </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__interpolation__grp.html#ga1e31a6d4b982eee16bab9ae66c0ee042">mrpt::math::leastSquareLinearFit</a> (const NUMTYPE t, const VECTORLIKE &x, const VECTORLIKE &y, bool wrap2pi=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Interpolates or extrapolates using a least-square linear fit of the set of values "x" and "y", evaluated at a single point "t". <a href="group__interpolation__grp.html#ga1e31a6d4b982eee16bab9ae66c0ee042"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class VECTORLIKE1 , class VECTORLIKE2 , class VECTORLIKE3 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__interpolation__grp.html#ga4939a6f537e90519df7149c550ed71c8">mrpt::math::leastSquareLinearFit</a> (const VECTORLIKE1 &ts, VECTORLIKE2 &outs, const VECTORLIKE3 &x, const VECTORLIKE3 &y, bool wrap2pi=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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". <a href="group__interpolation__grp.html#ga4939a6f537e90519df7149c550ed71c8"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Probability density distributions (pdf) distance metrics</div></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class VECTORLIKE1 , class VECTORLIKE2 , class MAT > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="eigen__plugins_8h.html#afd07186978da46f9908364e389f8a403">VECTORLIKE1::value_type</a> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__stats__grp.html#ga83890daff9ce929f7acd216a5a248842">mrpt::math::mahalanobisDistance2</a> (const VECTORLIKE1 &X, const VECTORLIKE2 &MU, const MAT &COV)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the squared mahalanobis distance of a vector X given the mean MU and the covariance *inverse* COV_inv </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ d^2 = (X-MU)^\top \Sigma^{-1} (X-MU) \]" src="form_39.png"/>
</p>
<p>. <a href="group__stats__grp.html#ga83890daff9ce929f7acd216a5a248842"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class VECTORLIKE1 , class VECTORLIKE2 , class MAT > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="eigen__plugins_8h.html#afd07186978da46f9908364e389f8a403">VECTORLIKE1::value_type</a> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__stats__grp.html#ga9f4f0d1f3c898ec9b9017aa4632ff977">mrpt::math::mahalanobisDistance</a> (const VECTORLIKE1 &X, const VECTORLIKE2 &MU, const MAT &COV)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the mahalanobis distance of a vector X given the mean MU and the covariance *inverse* COV_inv </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ d = \sqrt{ (X-MU)^\top \Sigma^{-1} (X-MU) } \]" src="form_40.png"/>
</p>
<p>. <a href="group__stats__grp.html#ga9f4f0d1f3c898ec9b9017aa4632ff977"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class VECTORLIKE , class MAT1 , class MAT2 , class MAT3 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="eigen__plugins_8h.html#afd07186978da46f9908364e389f8a403">VECTORLIKE::value_type</a> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__stats__grp.html#ga4bdd42229480454da8a1ffa6c31266f4">mrpt::math::mahalanobisDistance2</a> (const VECTORLIKE &mean_diffs, const MAT1 &COV1, const MAT2 &COV2, const MAT3 &CROSS_COV12)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the squared mahalanobis distance between two *non-independent* Gaussians, given the two covariance matrices and the vector with the difference of their means. <a href="group__stats__grp.html#ga4bdd42229480454da8a1ffa6c31266f4"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class VECTORLIKE , class MAT1 , class MAT2 , class MAT3 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="eigen__plugins_8h.html#afd07186978da46f9908364e389f8a403">VECTORLIKE::value_type</a> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__stats__grp.html#gad92bbaa6ff21979851cd068b575b1cc4">mrpt::math::mahalanobisDistance</a> (const VECTORLIKE &mean_diffs, const MAT1 &COV1, const MAT2 &COV2, const MAT3 &CROSS_COV12)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the mahalanobis distance between two *non-independent* Gaussians (or independent if CROSS_COV12=NULL), given the two covariance matrices and the vector with the difference of their means. <a href="group__stats__grp.html#gad92bbaa6ff21979851cd068b575b1cc4"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class VECTORLIKE , class MATRIXLIKE > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="eigen__plugins_8h.html#afd07186978da46f9908364e389f8a403">MATRIXLIKE::value_type</a> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__stats__grp.html#ga6d3521a4e3b2ff5d55d8762108e6c8e4">mrpt::math::mahalanobisDistance2</a> (const VECTORLIKE &delta_mu, const MATRIXLIKE &cov)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the squared mahalanobis distance between a point and a Gaussian, given the covariance matrix and the vector with the difference between the mean and the point. <a href="group__stats__grp.html#ga6d3521a4e3b2ff5d55d8762108e6c8e4"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class VECTORLIKE , class MATRIXLIKE > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="eigen__plugins_8h.html#afd07186978da46f9908364e389f8a403">MATRIXLIKE::value_type</a> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__stats__grp.html#ga90f3038071d69c2b7dced52af44e4944">mrpt::math::mahalanobisDistance</a> (const VECTORLIKE &delta_mu, const MATRIXLIKE &cov)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the mahalanobis distance between a point and a Gaussian, given the covariance matrix and the vector with the difference between the mean and the point. <a href="group__stats__grp.html#ga90f3038071d69c2b7dced52af44e4944"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">T </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__stats__grp.html#ga668be07e32223bceb4ff0100f8f860fc">mrpt::math::productIntegralTwoGaussians</a> (const <a class="el" href="classstd_1_1vector.html">std::vector</a>< T > &mean_diffs, const CMatrixTemplateNumeric< T > &COV1, const CMatrixTemplateNumeric< T > &COV2)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the integral of the product of two Gaussians, with means separated by "mean_diffs" and covariances "COV1" and "COV2". <a href="group__stats__grp.html#ga668be07e32223bceb4ff0100f8f860fc"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T , size_t DIM> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">T </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__stats__grp.html#gaa31d217d82b559612958855947f79084">mrpt::math::productIntegralTwoGaussians</a> (const <a class="el" href="classstd_1_1vector.html">std::vector</a>< T > &mean_diffs, const CMatrixFixedNumeric< T, DIM, DIM > &COV1, const CMatrixFixedNumeric< T, DIM, DIM > &COV2)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the integral of the product of two Gaussians, with means separated by "mean_diffs" and covariances "COV1" and "COV2". <a href="group__stats__grp.html#gaa31d217d82b559612958855947f79084"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T , class VECLIKE , class MATLIKE1 , class MATLIKE2 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__stats__grp.html#ga0080dc1b4ea2d89d56fdde37f2ada9bf">mrpt::math::productIntegralAndMahalanobisTwoGaussians</a> (const VECLIKE &mean_diffs, const MATLIKE1 &COV1, const MATLIKE2 &COV2, T &maha2_out, T &intprod_out, const MATLIKE1 *CROSS_COV12=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes both, the integral of the product of two Gaussians and their square Mahalanobis distance. <a href="group__stats__grp.html#ga0080dc1b4ea2d89d56fdde37f2ada9bf"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T , class VECLIKE , class MATRIXLIKE > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__stats__grp.html#ga69052bc18d0891a7b1d9fb02ab525e3b">mrpt::math::mahalanobisDistance2AndLogPDF</a> (const VECLIKE &diff_mean, const MATRIXLIKE &cov, T &maha2_out, T &log_pdf_out)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes both, the logarithm of the PDF and the square Mahalanobis distance between a point (given by its difference wrt the mean) and a Gaussian. <a href="group__stats__grp.html#ga69052bc18d0891a7b1d9fb02ab525e3b"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T , class VECLIKE , class MATRIXLIKE > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__stats__grp.html#gaf3c8a238490b9bfcaf2f2631fb7c2ed2">mrpt::math::mahalanobisDistance2AndPDF</a> (const VECLIKE &diff_mean, const MATRIXLIKE &cov, T &maha2_out, T &pdf_out)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes both, the PDF and the square Mahalanobis distance between a point (given by its difference wrt the mean) and a Gaussian. <a href="group__stats__grp.html#gaf3c8a238490b9bfcaf2f2631fb7c2ed2"></a><br/></td></tr>
</table>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</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>
