<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> <title>eigen_plugins_impl.h Source File</title> <link href="doxygen.css" rel="stylesheet" type="text/css"> <link href="tabs.css" rel="stylesheet" type="text/css"> </head><body> <div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div> <div align="right"> <a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a> </div> <!-- Generated by Doxygen 1.7.5 --> <script type="text/javascript"> var searchBox = new SearchBox("searchBox", "search",false,'Search'); </script> <div id="navrow1" class="tabs"> <ul class="tablist"> <li><a href="index.html"><span>Main Page</span></a></li> <li><a href="pages.html"><span>Related Pages</span></a></li> <li><a href="modules.html"><span>Modules</span></a></li> <li><a href="namespaces.html"><span>Namespaces</span></a></li> <li><a href="annotated.html"><span>Classes</span></a></li> <li class="current"><a href="files.html"><span>Files</span></a></li> <li> <div id="MSearchBox" class="MSearchBoxInactive"> <div class="left"> <form id="FSearchBox" action="search.php" method="get"> <img id="MSearchSelect" src="search/mag.png" alt=""/> <input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)" onblur="searchBox.OnSearchFieldFocus(false)"/> </form> </div><div class="right"></div> </div> </li> </ul> </div> <div id="navrow2" class="tabs2"> <ul class="tablist"> <li><a href="files.html"><span>File List</span></a></li> <li><a href="globals.html"><span>File Members</span></a></li> </ul> </div> <div class="header"> <div class="headertitle"> <div class="title">eigen_plugins_impl.h</div> </div> </div> <div class="contents"> <a href="eigen__plugins__impl_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 <a name="l00029"></a>00029 <span class="preprocessor">#ifndef MRPT_EIGEN_PLUGINS_IMPL_H</span> <a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define MRPT_EIGEN_PLUGINS_IMPL_H</span> <a name="l00031"></a>00031 <span class="preprocessor"></span> <a name="l00032"></a>00032 <span class="comment">// -------------------------------------------------------------------------</span> <a name="l00033"></a>00033 <span class="comment">// This file implements some templates which had to be left only declared</span> <a name="l00034"></a>00034 <span class="comment">// in the "plug-in" headers "eigen_plugins.h" within Eigen::MatrixBase<></span> <a name="l00035"></a>00035 <span class="comment">// -------------------------------------------------------------------------</span> <a name="l00036"></a>00036 <a name="l00037"></a><a class="code" href="namespaceinternal__mrpt.html">00037</a> <span class="keyword">namespace </span>internal_mrpt <a name="l00038"></a>00038 { <a name="l00039"></a>00039 <span class="comment">// Generic version for all kind of matrices:</span> <a name="l00040"></a>00040 <span class="keyword">template</span><<span class="keywordtype">int</span> R, <span class="keywordtype">int</span> C> <a name="l00041"></a>00041 <span class="keyword">struct </span><a class="code" href="structinternal__mrpt_1_1_mat_or_vec_resizer.html">MatOrVecResizer</a> <a name="l00042"></a>00042 { <a name="l00043"></a>00043 <span class="keyword">template</span> <<span class="keyword">typename</span> S, <span class="keywordtype">int</span> Opt, <span class="keywordtype">int</span> MaxR, <span class="keywordtype">int</span> MaxC> <a name="l00044"></a><a class="code" href="structinternal__mrpt_1_1_mat_or_vec_resizer.html#a96cac7b23045e898ace38127fea7743e">00044</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structinternal__mrpt_1_1_mat_or_vec_resizer.html#a96cac7b23045e898ace38127fea7743e">doit</a>(<a class="code" href="class_eigen_1_1_matrix.html" title="The matrix class, also used for vectors and row-vectors.">Eigen::Matrix<S,R,C,Opt,MaxR,MaxC></a> &mat, <span class="keywordtype">size_t</span> new_rows,<span class="keywordtype">size_t</span> new_cols) <a name="l00045"></a>00045 { <a name="l00046"></a>00046 <a class="code" href="structmrpt_1_1math_1_1detail_1_1_t_aux_resizer.html" title="Internal resize which compiles to nothing on fixed-size matrices.">::mrpt::math::detail::TAuxResizer<Eigen::Matrix<S,R,C,Opt,MaxR,MaxC></a>,Eigen::Matrix<S,R,C,Opt,MaxR,MaxC>::SizeAtCompileTime>::internal_resize(mat,new_rows,new_cols); <a name="l00047"></a>00047 <span class="comment">//mat.derived().conservativeResize(new_rows,new_cols);</span> <a name="l00048"></a>00048 } <a name="l00049"></a>00049 }; <a name="l00050"></a>00050 <span class="comment">// Specialization for column matrices:</span> <a name="l00051"></a>00051 <span class="keyword">template</span><<span class="keywordtype">int</span> R> <a name="l00052"></a>00052 <span class="keyword">struct </span>MatOrVecResizer<R,1> <a name="l00053"></a>00053 { <a name="l00054"></a>00054 <span class="keyword">template</span> <<span class="keyword">typename</span> S, <span class="keywordtype">int</span> Opt, <span class="keywordtype">int</span> MaxR, <span class="keywordtype">int</span> MaxC> <a name="l00055"></a><a class="code" href="structinternal__mrpt_1_1_mat_or_vec_resizer_3_01_r_00_011_01_4.html#a4ad1a89ada23311a67433d702dc32d9f">00055</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structinternal__mrpt_1_1_mat_or_vec_resizer.html#a96cac7b23045e898ace38127fea7743e">doit</a>(<a class="code" href="class_eigen_1_1_matrix.html" title="The matrix class, also used for vectors and row-vectors.">Eigen::Matrix<S,R,1,Opt,MaxR,MaxC></a> &mat, <span class="keywordtype">size_t</span> new_rows,<span class="keywordtype">size_t</span> new_cols) <a name="l00056"></a>00056 { <a name="l00057"></a>00057 <a class="code" href="structmrpt_1_1math_1_1detail_1_1_t_aux_resizer.html" title="Internal resize which compiles to nothing on fixed-size matrices.">::mrpt::math::detail::TAuxResizer<Eigen::Matrix<S,R,1,Opt,MaxR,MaxC></a>,Eigen::Matrix<S,R,1,Opt,MaxR,MaxC>::SizeAtCompileTime>::internal_resize(mat,new_rows); <a name="l00058"></a>00058 <span class="comment">//mat.derived().conservativeResize(new_rows);</span> <a name="l00059"></a>00059 } <a name="l00060"></a>00060 }; <a name="l00061"></a>00061 <span class="comment">// Specialization for row matrices:</span> <a name="l00062"></a>00062 <span class="keyword">template</span><<span class="keywordtype">int</span> C> <a name="l00063"></a>00063 <span class="keyword">struct </span>MatOrVecResizer<1,C> <a name="l00064"></a>00064 { <a name="l00065"></a>00065 <span class="keyword">template</span> <<span class="keyword">typename</span> S, <span class="keywordtype">int</span> Opt, <span class="keywordtype">int</span> MaxR, <span class="keywordtype">int</span> MaxC> <a name="l00066"></a><a class="code" href="structinternal__mrpt_1_1_mat_or_vec_resizer_3_011_00_01_c_01_4.html#a18edbd7bd43f43b88830580fbc203a07">00066</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structinternal__mrpt_1_1_mat_or_vec_resizer.html#a96cac7b23045e898ace38127fea7743e">doit</a>(<a class="code" href="class_eigen_1_1_matrix.html" title="The matrix class, also used for vectors and row-vectors.">Eigen::Matrix<S,1,C,Opt,MaxR,MaxC></a> &mat, <span class="keywordtype">size_t</span> new_rows,<span class="keywordtype">size_t</span> new_cols) <a name="l00067"></a>00067 { <a name="l00068"></a>00068 <a class="code" href="structmrpt_1_1math_1_1detail_1_1_t_aux_resizer.html" title="Internal resize which compiles to nothing on fixed-size matrices.">::mrpt::math::detail::TAuxResizer<Eigen::Matrix<S,1,C,Opt,MaxR,MaxC></a>,Eigen::Matrix<S,1,C,Opt,MaxR,MaxC>::SizeAtCompileTime>::internal_resize(mat,new_cols); <a name="l00069"></a>00069 <span class="comment">//mat.derived().conservativeResize(new_cols);</span> <a name="l00070"></a>00070 } <a name="l00071"></a>00071 }; <a name="l00072"></a>00072 <span class="keyword">template</span><> <a name="l00073"></a>00073 <span class="keyword">struct </span>MatOrVecResizer<1,1> <a name="l00074"></a>00074 { <a name="l00075"></a>00075 <span class="keyword">template</span> <<span class="keyword">typename</span> S, <span class="keywordtype">int</span> Opt, <span class="keywordtype">int</span> MaxR, <span class="keywordtype">int</span> MaxC> <a name="l00076"></a><a class="code" href="structinternal__mrpt_1_1_mat_or_vec_resizer_3_011_00_011_01_4.html#a71b2c4085e8e7a92aef70e9d33708c8a">00076</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structinternal__mrpt_1_1_mat_or_vec_resizer.html#a96cac7b23045e898ace38127fea7743e">doit</a>(<a class="code" href="class_eigen_1_1_matrix.html" title="The matrix class, also used for vectors and row-vectors.">Eigen::Matrix<S,1,1,Opt,MaxR,MaxC></a> &mat, <span class="keywordtype">size_t</span> new_rows,<span class="keywordtype">size_t</span> new_cols) <a name="l00077"></a>00077 { <a name="l00078"></a>00078 <a class="code" href="structmrpt_1_1math_1_1detail_1_1_t_aux_resizer.html" title="Internal resize which compiles to nothing on fixed-size matrices.">::mrpt::math::detail::TAuxResizer<Eigen::Matrix<S,1,1,Opt,MaxR,MaxC></a>,Eigen::Matrix<S,1,1,Opt,MaxR,MaxC>::SizeAtCompileTime>::internal_resize(mat,new_cols); <a name="l00079"></a>00079 <span class="comment">//mat.derived().conservativeResize(new_cols);</span> <a name="l00080"></a>00080 } <a name="l00081"></a>00081 }; <a name="l00082"></a>00082 } <a name="l00083"></a>00083 <span class="comment"></span> <a name="l00084"></a>00084 <span class="comment">/** Compute the eigenvectors and eigenvalues, both returned as matrices: eigenvectors are the columns, and eigenvalues</span> <a name="l00085"></a>00085 <span class="comment"> */</span> <a name="l00086"></a>00086 <span class="keyword">template</span> <<span class="keyword">class</span> Derived> <a name="l00087"></a>00087 <span class="keyword">template</span> <<span class="keyword">class</span> MATRIX1,<span class="keyword">class</span> MATRIX2> <a name="l00088"></a><a class="code" href="class_eigen_1_1_matrix_base.html#a4772b8e850310c0e10a5b814cff25b23">00088</a> EIGEN_STRONG_INLINE <span class="keywordtype">void</span> <a class="code" href="class_eigen_1_1_matrix_base.html#a4772b8e850310c0e10a5b814cff25b23" title="[For square matrices only] Compute the eigenvectors and eigenvalues (sorted), both returned as matric...">Eigen::MatrixBase<Derived>::eigenVectors</a>( MATRIX1 & eVecs, MATRIX2 & eVals )<span class="keyword"> const</span> <a name="l00089"></a>00089 <span class="keyword"></span>{ <a name="l00090"></a>00090 <a class="code" href="class_eigen_1_1_matrix.html" title="The matrix class, also used for vectors and row-vectors.">Matrix<Scalar,Dynamic,1></a> evals; <a name="l00091"></a>00091 <a class="code" href="eigen__plugins_8h.html#a97273e1933b74fb9d39e97500344dbed" title="[For square matrices only] Compute the eigenvectors and eigenvalues (sorted), eigenvectors are the co...">eigenVectorsVec</a>(eVecs,evals); <a name="l00092"></a>00092 eVals.resize(evals.size(),evals.size()); <a name="l00093"></a>00093 eVals.setZero(); <a name="l00094"></a>00094 eVals.diagonal()=evals; <a name="l00095"></a>00095 } <a name="l00096"></a>00096 <span class="comment"></span> <a name="l00097"></a>00097 <span class="comment">/** Compute the eigenvectors and eigenvalues, both returned as matrices: eigenvectors are the columns, and eigenvalues</span> <a name="l00098"></a>00098 <span class="comment"> */</span> <a name="l00099"></a>00099 <span class="keyword">template</span> <<span class="keyword">class</span> Derived> <a name="l00100"></a>00100 <span class="keyword">template</span> <<span class="keyword">class</span> MATRIX1,<span class="keyword">class</span> VECTOR1> <a name="l00101"></a><a class="code" href="class_eigen_1_1_matrix_base.html#ad78cb04c307be01d83453c47f6763710">00101</a> EIGEN_STRONG_INLINE <span class="keywordtype">void</span> <a class="code" href="class_eigen_1_1_matrix_base.html#ad78cb04c307be01d83453c47f6763710" title="[For square matrices only] Compute the eigenvectors and eigenvalues (sorted), eigenvectors are the co...">Eigen::MatrixBase<Derived>::eigenVectorsVec</a>( MATRIX1 & eVecs, VECTOR1 & eVals )<span class="keyword"> const</span> <a name="l00102"></a>00102 <span class="keyword"></span>{ <a name="l00103"></a>00103 Eigen<a class="code" href="class_eigen_1_1_eigen_solver.html">::EigenSolver< Derived ></a> es(*<span class="keyword">this</span>, <span class="keyword">true</span>); <a name="l00104"></a>00104 eVecs = es.<a class="code" href="class_eigen_1_1_eigen_solver.html#a3dcb2b713fb3c3f913288943f18aef02" title="Returns the eigenvectors of given matrix.">eigenvectors</a>().real(); <span class="comment">// Keep only the real part of complex matrix</span> <a name="l00105"></a>00105 eVals = es.<a class="code" href="class_eigen_1_1_eigen_solver.html#aeab8ed14f125fb0e91a01cd6ea05766a" title="Returns the eigenvalues of given matrix.">eigenvalues</a>().real(); <span class="comment">// Keep only the real part of complex matrix</span> <a name="l00106"></a>00106 <a name="l00107"></a>00107 <span class="comment">// Sort by ascending eigenvalues:</span> <a name="l00108"></a>00108 std::vector<std::pair<Scalar,Index> > D; <a name="l00109"></a>00109 D.reserve(eVals.size()); <a name="l00110"></a>00110 <span class="keywordflow">for</span> (<a class="code" href="class_eigen_1_1_dense_base.html#a0b34caae3eba4bdda82764279e0ed4a5" title="The type of indices.">Index</a> i=0;i<eVals.size();i++) <a name="l00111"></a>00111 D.push_back(std::make_pair<Scalar,Index>(eVals.coeff(i,0),i)); <a name="l00112"></a>00112 std::sort(D.begin(),D.end()); <a name="l00113"></a>00113 MATRIX1 sortedEigs; <a name="l00114"></a>00114 sortedEigs.resizeLike(eVecs); <a name="l00115"></a>00115 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i<eVals.size();i++) <a name="l00116"></a>00116 { <a name="l00117"></a>00117 eVals.coeffRef(i,0)=D[i].first; <a name="l00118"></a>00118 sortedEigs.col(i)=eVecs.col(D[i].second); <a name="l00119"></a>00119 } <a name="l00120"></a>00120 eVecs = sortedEigs; <a name="l00121"></a>00121 } <a name="l00122"></a>00122 <span class="comment"></span> <a name="l00123"></a>00123 <span class="comment">/** Compute the eigenvectors and eigenvalues, both returned as matrices: eigenvectors are the columns, and eigenvalues</span> <a name="l00124"></a>00124 <span class="comment"> */</span> <a name="l00125"></a>00125 <span class="keyword">template</span> <<span class="keyword">class</span> Derived> <a name="l00126"></a>00126 <span class="keyword">template</span> <<span class="keyword">class</span> MATRIX1,<span class="keyword">class</span> MATRIX2> <a name="l00127"></a><a class="code" href="class_eigen_1_1_matrix_base.html#a9bfb52de48c656cc5236570e8196131b">00127</a> EIGEN_STRONG_INLINE <span class="keywordtype">void</span> <a class="code" href="class_eigen_1_1_matrix_base.html#a9bfb52de48c656cc5236570e8196131b" title="[For symmetric matrices only] Compute the eigenvectors and eigenvalues (in no particular order)...">Eigen::MatrixBase<Derived>::eigenVectorsSymmetric</a>( MATRIX1 & eVecs, MATRIX2 & eVals )<span class="keyword"> const</span> <a name="l00128"></a>00128 <span class="keyword"></span>{ <a name="l00129"></a>00129 <a class="code" href="class_eigen_1_1_matrix.html" title="The matrix class, also used for vectors and row-vectors.">Matrix<Scalar,Dynamic,1></a> evals; <a name="l00130"></a>00130 <a class="code" href="eigen__plugins_8h.html#ab9f00b88574d88f92bb42e8ac1d49f5f" title="[For symmetric matrices only] Compute the eigenvectors and eigenvalues (in no particular order)...">eigenVectorsSymmetricVec</a>(eVecs,evals); <a name="l00131"></a>00131 eVals.resize(evals.size(),evals.size()); <a name="l00132"></a>00132 eVals.setZero(); <a name="l00133"></a>00133 eVals.diagonal()=evals; <a name="l00134"></a>00134 } <a name="l00135"></a>00135 <span class="comment"></span> <a name="l00136"></a>00136 <span class="comment">/** Compute the eigenvectors and eigenvalues, both returned as matrices: eigenvectors are the columns, and eigenvalues</span> <a name="l00137"></a>00137 <span class="comment"> */</span> <a name="l00138"></a>00138 <span class="keyword">template</span> <<span class="keyword">class</span> Derived> <a name="l00139"></a>00139 <span class="keyword">template</span> <<span class="keyword">class</span> MATRIX1,<span class="keyword">class</span> VECTOR1> <a name="l00140"></a><a class="code" href="class_eigen_1_1_matrix_base.html#a8003f191ad9c793329d10847f888980c">00140</a> EIGEN_STRONG_INLINE <span class="keywordtype">void</span> <a class="code" href="class_eigen_1_1_matrix_base.html#a8003f191ad9c793329d10847f888980c" title="[For symmetric matrices only] Compute the eigenvectors and eigenvalues (in no particular order)...">Eigen::MatrixBase<Derived>::eigenVectorsSymmetricVec</a>( MATRIX1 & eVecs, VECTOR1 & eVals )<span class="keyword"> const</span> <a name="l00141"></a>00141 <span class="keyword"></span>{ <a name="l00142"></a>00142 <span class="comment">// This solver returns the eigenvectors already sorted.</span> <a name="l00143"></a>00143 Eigen<a class="code" href="class_eigen_1_1_self_adjoint_eigen_solver.html">::SelfAdjointEigenSolver<Derived></a> eigensolver(*<span class="keyword">this</span>); <a name="l00144"></a>00144 eVecs = eigensolver.<a class="code" href="class_eigen_1_1_self_adjoint_eigen_solver.html#a64ec384f6d84f4591e86c117a95d79dd" title="Returns the eigenvectors of given matrix.">eigenvectors</a>(); <a name="l00145"></a>00145 eVals = eigensolver.<a class="code" href="class_eigen_1_1_self_adjoint_eigen_solver.html#a57d8b8b0cc16f36ea536c135d432d9c6" title="Returns the eigenvalues of given matrix.">eigenvalues</a>(); <a name="l00146"></a>00146 } <a name="l00147"></a>00147 <a name="l00148"></a>00148 <a name="l00149"></a>00149 <span class="keyword">template</span> <<span class="keyword">class</span> Derived> <a name="l00150"></a><a class="code" href="class_eigen_1_1_matrix_base.html#a7659f3f1b9788542f0d7e37efffec20e">00150</a> <span class="keywordtype">bool</span> <a class="code" href="class_eigen_1_1_matrix_base.html#a7659f3f1b9788542f0d7e37efffec20e" title="Read a matrix from a string in Matlab-like format, for example "[1 0 2; 0 4 -1]" The string must st...">Eigen::MatrixBase<Derived>::fromMatlabStringFormat</a>(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &s, <span class="keywordtype">bool</span> dumpErrorMsgToStdErr) <a name="l00151"></a>00151 { <a name="l00152"></a>00152 <span class="comment">// Start with a (0,0) matrix:</span> <a name="l00153"></a>00153 <span class="keywordflow">if</span> ( Derived::RowsAtCompileTime==<a class="code" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2" title="This value means that a quantity is not known at compile-time, and that instead the value is stored i...">Eigen::Dynamic</a>) <a name="l00154"></a>00154 (*this) = Derived(); <a name="l00155"></a>00155 <a name="l00156"></a>00156 <span class="comment">// Look for starting "[".</span> <a name="l00157"></a>00157 <span class="keywordtype">size_t</span> ini = s.find_first_not_of(<span class="stringliteral">" \t\r\n"</span>); <a name="l00158"></a>00158 <span class="keywordflow">if</span> (ini==std::string::npos || s[ini]!=<span class="charliteral">'['</span>) { <span class="keywordflow">return</span> <span class="keyword">false</span>; } <a name="l00159"></a>00159 <a name="l00160"></a>00160 <span class="keywordtype">size_t</span> <a class="code" href="eigen__plugins_8h.html#ade5b39864c905cbb824d0ff6eb0d888c">end</a> = s.find_last_not_of(<span class="stringliteral">" \t\r\n"</span>); <a name="l00161"></a>00161 <span class="keywordflow">if</span> (end==std::string::npos || s[end]!=<span class="charliteral">']'</span>) <span class="keywordflow">return</span> <span class="keyword">false</span>; <a name="l00162"></a>00162 <a name="l00163"></a>00163 <span class="keywordflow">if</span> (ini>end) <span class="keywordflow">return</span> <span class="keyword">false</span>; <a name="l00164"></a>00164 <a name="l00165"></a>00165 std::vector<Scalar> lstElements; <a name="l00166"></a>00166 <a name="l00167"></a>00167 <span class="keywordtype">size_t</span> i = ini+1; <a name="l00168"></a>00168 <span class="keywordtype">size_t</span> nRow = 0; <a name="l00169"></a>00169 <a name="l00170"></a>00170 <span class="keywordflow">while</span> (i<end) <a name="l00171"></a>00171 { <a name="l00172"></a>00172 <span class="comment">// Extract one row:</span> <a name="l00173"></a>00173 <span class="keywordtype">size_t</span> end_row = s.find_first_of(<span class="stringliteral">";]"</span>,i); <a name="l00174"></a>00174 <span class="keywordflow">if</span> (end_row==std::string::npos) { <span class="keywordflow">return</span> <span class="keyword">false</span>; } <a name="l00175"></a>00175 <a name="l00176"></a>00176 <span class="comment">// We have one row in s[ i : (end_row-1) ]</span> <a name="l00177"></a>00177 std::stringstream ss(s.substr(i, end_row-i )); <a name="l00178"></a>00178 lstElements.clear(); <a name="l00179"></a>00179 <span class="keywordflow">try</span> <a name="l00180"></a>00180 { <a name="l00181"></a>00181 <span class="keywordflow">while</span> (!ss.eof()) <a name="l00182"></a>00182 { <a name="l00183"></a>00183 <a class="code" href="class_eigen_1_1_dense_base.html#ab151c7c751122a18f56f56bada8ec7d5">Scalar</a> val; <a name="l00184"></a>00184 ss >> val; <a name="l00185"></a>00185 <span class="keywordflow">if</span> (ss.bad() || ss.fail()) <span class="keywordflow">break</span>; <a name="l00186"></a>00186 lstElements.push_back(val); <a name="l00187"></a>00187 } <a name="l00188"></a>00188 } <span class="keywordflow">catch</span> (...) { } <span class="comment">// end of line</span> <a name="l00189"></a>00189 <a name="l00190"></a>00190 <span class="comment">// Empty row? Only for the first row, then this is an empty matrix:</span> <a name="l00191"></a>00191 <span class="keywordflow">if</span> (lstElements.empty()) <a name="l00192"></a>00192 { <a name="l00193"></a>00193 <span class="keywordflow">if</span> (nRow>0) <a name="l00194"></a>00194 <span class="keywordflow">return</span> <span class="keyword">false</span>; <a name="l00195"></a>00195 <span class="keywordflow">else</span> <a name="l00196"></a>00196 { <a name="l00197"></a>00197 <span class="comment">// Else, this may be an empty matrix... if there is no next row, we'll return with a (0,0) matrix</span> <a name="l00198"></a>00198 <span class="keywordflow">if</span> ( Derived::RowsAtCompileTime==<a class="code" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2" title="This value means that a quantity is not known at compile-time, and that instead the value is stored i...">Eigen::Dynamic</a> ) <a name="l00199"></a>00199 (*this) = Derived(); <a name="l00200"></a>00200 } <a name="l00201"></a>00201 } <a name="l00202"></a>00202 <span class="keywordflow">else</span> <a name="l00203"></a>00203 { <a name="l00204"></a>00204 <span class="keyword">const</span> <span class="keywordtype">size_t</span> N = lstElements.size(); <a name="l00205"></a>00205 <a name="l00206"></a>00206 <span class="comment">// Check valid width: All rows must have the same width</span> <a name="l00207"></a>00207 <span class="keywordflow">if</span> ((nRow>0 && <span class="keywordtype">size_t</span>(cols())!=N) || <a name="l00208"></a>00208 (nRow==0 && Derived::ColsAtCompileTime!=<a class="code" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2" title="This value means that a quantity is not known at compile-time, and that instead the value is stored i...">Eigen::Dynamic</a> && Derived::ColsAtCompileTime!=<span class="keywordtype">int</span>(N)) ) <a name="l00209"></a>00209 { <a name="l00210"></a>00210 <span class="keywordflow">if</span> (dumpErrorMsgToStdErr) <a name="l00211"></a>00211 std::cerr << <span class="stringliteral">"[fromMatlabStringFormat] Row "</span> << nRow+1 << <span class="stringliteral">" has invalid number of columns.\n"</span>; <a name="l00212"></a>00212 <span class="keywordflow">return</span> <span class="keyword">false</span>; <a name="l00213"></a>00213 } <a name="l00214"></a>00214 <a name="l00215"></a>00215 <span class="comment">// Append to the matrix:</span> <a name="l00216"></a>00216 <span class="keywordflow">if</span> ( Derived::RowsAtCompileTime==<a class="code" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2" title="This value means that a quantity is not known at compile-time, and that instead the value is stored i...">Eigen::Dynamic</a> || Derived::ColsAtCompileTime==<a class="code" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2" title="This value means that a quantity is not known at compile-time, and that instead the value is stored i...">Eigen::Dynamic</a> ) <a name="l00217"></a>00217 <a class="code" href="structinternal__mrpt_1_1_mat_or_vec_resizer.html">internal_mrpt::MatOrVecResizer<Derived::RowsAtCompileTime,Derived::ColsAtCompileTime>::doit</a>(derived(),nRow+1,N); <a name="l00218"></a>00218 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (Derived::RowsAtCompileTime!=<a class="code" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2" title="This value means that a quantity is not known at compile-time, and that instead the value is stored i...">Eigen::Dynamic</a> && <span class="keywordtype">int</span>(nRow)>=Derived::RowsAtCompileTime) <a name="l00219"></a>00219 { <a name="l00220"></a>00220 <span class="keywordflow">if</span> (dumpErrorMsgToStdErr) <a name="l00221"></a>00221 std::cerr << <span class="stringliteral">"[fromMatlabStringFormat] Read more rows than the capacity of the fixed sized matrix.\n"</span>; <a name="l00222"></a>00222 <span class="keywordflow">return</span> <span class="keyword">false</span>; <a name="l00223"></a>00223 } <a name="l00224"></a>00224 <a name="l00225"></a>00225 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> q=0;q<N;q++) <a name="l00226"></a>00226 coeffRef(nRow,q) = lstElements[q]; <a name="l00227"></a>00227 <a name="l00228"></a>00228 <span class="comment">// Go for the next row:</span> <a name="l00229"></a>00229 nRow++; <a name="l00230"></a>00230 } <a name="l00231"></a>00231 <a name="l00232"></a>00232 i = end_row+1; <a name="l00233"></a>00233 } <a name="l00234"></a>00234 <span class="comment">// For fixed sized matrices, check size:</span> <a name="l00235"></a>00235 <span class="keywordflow">if</span> (Derived::RowsAtCompileTime!=<a class="code" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2" title="This value means that a quantity is not known at compile-time, and that instead the value is stored i...">Eigen::Dynamic</a> && <span class="keywordtype">int</span>(nRow)!=Derived::RowsAtCompileTime) <a name="l00236"></a>00236 { <a name="l00237"></a>00237 <span class="keywordflow">if</span> (dumpErrorMsgToStdErr) <a name="l00238"></a>00238 std::cerr << <span class="stringliteral">"[fromMatlabStringFormat] Read less rows than the capacity of the fixed sized matrix.\n"</span>; <a name="l00239"></a>00239 <span class="keywordflow">return</span> <span class="keyword">false</span>; <a name="l00240"></a>00240 } <a name="l00241"></a>00241 <span class="keywordflow">return</span> <span class="keyword">true</span>; <span class="comment">// Ok</span> <a name="l00242"></a>00242 } <a name="l00243"></a>00243 <a name="l00244"></a>00244 <span class="keyword">template</span> <<span class="keyword">class</span> Derived> <a name="l00245"></a><a class="code" href="class_eigen_1_1_matrix_base.html#a756a6b514361b6add651995d6432037c">00245</a> std::string <a class="code" href="class_eigen_1_1_matrix_base.html#a756a6b514361b6add651995d6432037c" title="Dump matrix in matlab format.">Eigen::MatrixBase<Derived>::inMatlabFormat</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> decimal_digits)<span class="keyword"> const</span> <a name="l00246"></a>00246 <span class="keyword"></span>{ <a name="l00247"></a>00247 std::stringstream s; <a name="l00248"></a>00248 s << <span class="stringliteral">"["</span> << std::scientific; <a name="l00249"></a>00249 s.precision(decimal_digits); <a name="l00250"></a>00250 <span class="keywordflow">for</span> (<a class="code" href="class_eigen_1_1_dense_base.html#a0b34caae3eba4bdda82764279e0ed4a5" title="The type of indices.">Index</a> i=0;i<rows();i++) <a name="l00251"></a>00251 { <a name="l00252"></a>00252 <span class="keywordflow">for</span> (<a class="code" href="class_eigen_1_1_dense_base.html#a0b34caae3eba4bdda82764279e0ed4a5" title="The type of indices.">Index</a> j=0;j<cols();j++) <a name="l00253"></a>00253 s << coeff(i,j) << <span class="stringliteral">" "</span>; <a name="l00254"></a>00254 <span class="keywordflow">if</span> (i<rows()-1) s << <span class="stringliteral">";"</span>; <a name="l00255"></a>00255 } <a name="l00256"></a>00256 s << <span class="stringliteral">"]"</span>; <a name="l00257"></a>00257 <span class="keywordflow">return</span> s.str(); <a name="l00258"></a>00258 } <a name="l00259"></a>00259 <a name="l00260"></a>00260 <span class="keyword">template</span> <<span class="keyword">class</span> Derived> <a name="l00261"></a><a class="code" href="class_eigen_1_1_matrix_base.html#a934cfd193a97d2bc6a473d472addd860">00261</a> <span class="keywordtype">void</span> <a class="code" href="class_eigen_1_1_matrix_base.html#a934cfd193a97d2bc6a473d472addd860" title="Save matrix to a text file, compatible with MATLAB text format (see also the methods of matrix classe...">Eigen::MatrixBase<Derived>::saveToTextFile</a>( <a name="l00262"></a>00262 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &file, <a name="l00263"></a>00263 <a class="code" href="namespacemrpt_1_1math.html#a5c655254dc91e1e5e5b7e43ab7572d85">mrpt::math::TMatrixTextFileFormat</a> fileFormat, <a name="l00264"></a>00264 <span class="keywordtype">bool</span> appendMRPTHeader, <a name="l00265"></a>00265 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &userHeader <a name="l00266"></a>00266 )<span class="keyword"> const</span> <a name="l00267"></a>00267 <span class="keyword"></span>{ <a name="l00268"></a>00268 FILE *f= <a class="code" href="group__mrpt__system__os.html#ga9b309cf44c48a430f3c70524e7492108" title="An OS-independent version of fopen.">::fopen</a>(file.c_str(),<span class="stringliteral">"wt"</span>); <a name="l00269"></a>00269 <span class="keywordflow">if</span> (!f) <a name="l00270"></a>00270 <span class="keywordflow">throw</span> <a class="code" href="classstd_1_1runtime__error.html" title="STL class.">std::runtime_error</a>(<a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>(<span class="stringliteral">"saveToTextFile: Error opening file "</span>)+file+<a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>(<span class="stringliteral">"' for writing a matrix as text."</span>)); <a name="l00271"></a>00271 <a name="l00272"></a>00272 <span class="keywordflow">if</span> (!userHeader.empty()) <a name="l00273"></a>00273 <a class="code" href="group__mrpt__system__os.html#ga4cc3a0ea9b292a90300224b00e1c8fac" title="An OS-independent version of fprintf.">fprintf</a>(f,<span class="stringliteral">"%s"</span>,userHeader.c_str() ); <a name="l00274"></a>00274 <a name="l00275"></a>00275 <span class="keywordflow">if</span> (appendMRPTHeader) <a name="l00276"></a>00276 { <a name="l00277"></a>00277 time_t rawtime; <a name="l00278"></a>00278 ::time(&rawtime); <a name="l00279"></a>00279 <span class="keyword">struct </span>tm * timeinfo = ::localtime(&rawtime); <a name="l00280"></a>00280 <a name="l00281"></a>00281 <a class="code" href="group__mrpt__system__os.html#ga4cc3a0ea9b292a90300224b00e1c8fac" title="An OS-independent version of fprintf.">fprintf</a>(f,<span class="stringliteral">"%% File generated with MRPT %s at %s\n%%-----------------------------------------------------------------\n"</span>, <a name="l00282"></a>00282 <a class="code" href="group__mrpt__system__os.html#ga8fe63df666e65644f220e175df15c8ab" title="Returns a string describing the MRPT version including the SVN number.">mrpt::system::MRPT_getVersion</a>().c_str(), <a name="l00283"></a>00283 asctime(timeinfo) ); <a name="l00284"></a>00284 } <a name="l00285"></a>00285 <a name="l00286"></a>00286 <span class="keywordflow">for</span> (<a class="code" href="class_eigen_1_1_dense_base.html#a0b34caae3eba4bdda82764279e0ed4a5" title="The type of indices.">Index</a> i=0; i < rows(); i++) <a name="l00287"></a>00287 { <a name="l00288"></a>00288 <span class="keywordflow">for</span> (<a class="code" href="class_eigen_1_1_dense_base.html#a0b34caae3eba4bdda82764279e0ed4a5" title="The type of indices.">Index</a> j=0; j < cols(); j++) <a name="l00289"></a>00289 { <a name="l00290"></a>00290 <span class="keywordflow">switch</span>(fileFormat) <a name="l00291"></a>00291 { <a name="l00292"></a>00292 <span class="keywordflow">case</span> mrpt<a class="code" href="namespacemrpt_1_1math.html#a5c655254dc91e1e5e5b7e43ab7572d85a40e11335e625d349cfb19366b9d23e04" title="engineering format 'e'">::math::MATRIX_FORMAT_ENG</a>: <a class="code" href="group__mrpt__system__os.html#ga4cc3a0ea9b292a90300224b00e1c8fac" title="An OS-independent version of fprintf.">::fprintf</a>(f,<span class="stringliteral">"%.16e"</span>,static_cast<double>(coeff(i,j))); <span class="keywordflow">break</span>; <a name="l00293"></a>00293 <span class="keywordflow">case</span> mrpt<a class="code" href="namespacemrpt_1_1math.html#a5c655254dc91e1e5e5b7e43ab7572d85a417d954dbfac48470b7bbe455784ec19" title="fixed floating point 'f'">::math::MATRIX_FORMAT_FIXED</a>: <a class="code" href="group__mrpt__system__os.html#ga4cc3a0ea9b292a90300224b00e1c8fac" title="An OS-independent version of fprintf.">::fprintf</a>(f,<span class="stringliteral">"%.16f"</span>,static_cast<double>(coeff(i,j))); <span class="keywordflow">break</span>; <a name="l00294"></a>00294 <span class="keywordflow">case</span> mrpt<a class="code" href="namespacemrpt_1_1math.html#a5c655254dc91e1e5e5b7e43ab7572d85ac1fe98ff9b96269a607dc3ae8f0edbe5" title="intergers 'i'">::math::MATRIX_FORMAT_INT</a>: <a class="code" href="group__mrpt__system__os.html#ga4cc3a0ea9b292a90300224b00e1c8fac" title="An OS-independent version of fprintf.">::fprintf</a>(f,<span class="stringliteral">"%i"</span>,static_cast<int>(coeff(i,j))); <span class="keywordflow">break</span>; <a name="l00295"></a>00295 <span class="keywordflow">default</span>: <a name="l00296"></a>00296 <span class="keywordflow">throw</span> <a class="code" href="classstd_1_1runtime__error.html" title="STL class.">std::runtime_error</a>(<span class="stringliteral">"Unsupported value for the parameter 'fileFormat'!"</span>); <a name="l00297"></a>00297 }; <a name="l00298"></a>00298 <span class="comment">// Separating blank space</span> <a name="l00299"></a>00299 <span class="keywordflow">if</span> (j<(cols()-1)) <a class="code" href="group__mrpt__system__os.html#ga4cc3a0ea9b292a90300224b00e1c8fac" title="An OS-independent version of fprintf.">::fprintf</a>(f,<span class="stringliteral">" "</span>); <a name="l00300"></a>00300 } <a name="l00301"></a>00301 <a class="code" href="group__mrpt__system__os.html#ga4cc3a0ea9b292a90300224b00e1c8fac" title="An OS-independent version of fprintf.">::fprintf</a>(f,<span class="stringliteral">"\n"</span>); <a name="l00302"></a>00302 } <a name="l00303"></a>00303 <a class="code" href="group__mrpt__system__os.html#gaf465efb0a560da1737c595780530bddf" title="An OS-independent version of fscanf.">::fclose</a>(f); <a name="l00304"></a>00304 } <a name="l00305"></a>00305 <a name="l00306"></a>00306 <a name="l00307"></a>00307 <span class="keyword">template</span> <<span class="keyword">class</span> Derived> <a name="l00308"></a><a class="code" href="class_eigen_1_1_matrix_base.html#a7c91559c8d4946a4b53312e0633a7f02">00308</a> <span class="keywordtype">void</span> <a class="code" href="class_eigen_1_1_matrix_base.html#a7c91559c8d4946a4b53312e0633a7f02" title="Load matrix from a text file, compatible with MATLAB text format.">Eigen::MatrixBase<Derived>::loadFromTextFile</a>(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &file) <a name="l00309"></a>00309 { <a name="l00310"></a>00310 std::ifstream f(file.c_str()); <a name="l00311"></a>00311 <span class="keywordflow">if</span> (f.fail()) <span class="keywordflow">throw</span> <a class="code" href="classstd_1_1runtime__error.html" title="STL class.">std::runtime_error</a>(<a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>(<span class="stringliteral">"loadFromTextFile: can't open file:"</span>) + file); <a name="l00312"></a>00312 <a class="code" href="eigen__plugins_8h.html#ad3c68c35368d8a0254192e3c34ea5f61" title="Load matrix from a text file, compatible with MATLAB text format.">loadFromTextFile</a>(f); <a name="l00313"></a>00313 } <a name="l00314"></a>00314 <a name="l00315"></a>00315 <span class="keyword">template</span> <<span class="keyword">class</span> Derived> <a name="l00316"></a><a class="code" href="class_eigen_1_1_matrix_base.html#a71723332da8e6b40f7c8db14bc7b48bb">00316</a> <span class="keywordtype">void</span> <a class="code" href="class_eigen_1_1_matrix_base.html#a7c91559c8d4946a4b53312e0633a7f02" title="Load matrix from a text file, compatible with MATLAB text format.">Eigen::MatrixBase<Derived>::loadFromTextFile</a>(<a class="code" href="classstd_1_1istream.html" title="STL class.">std::istream</a> &f) <a name="l00317"></a>00317 { <a name="l00318"></a>00318 <span class="comment">// This matrix is NROWS x NCOLS</span> <a name="l00319"></a>00319 std::string str; <a name="l00320"></a>00320 std::vector<double> fil(512); <a name="l00321"></a>00321 <span class="keywordtype">size_t</span> nRows = 0; <a name="l00322"></a>00322 <span class="keywordflow">while</span> ( !f.eof() ) <a name="l00323"></a>00323 { <a name="l00324"></a>00324 std::getline(f,str); <a name="l00325"></a>00325 <span class="keywordflow">if</span> (str.size() && str[0]!=<span class="charliteral">'#'</span> && str[0]!=<span class="charliteral">'%'</span>) <a name="l00326"></a>00326 { <a name="l00327"></a>00327 <span class="comment">// Parse row to floats:</span> <a name="l00328"></a>00328 <span class="keyword">const</span> <span class="keywordtype">char</span> *ptr = str.c_str(); <a name="l00329"></a>00329 <span class="keywordtype">char</span> *ptrEnd = NULL; <a name="l00330"></a>00330 <span class="keywordtype">size_t</span> i=0; <a name="l00331"></a>00331 <span class="comment">// Process each number in this row:</span> <a name="l00332"></a>00332 <span class="keywordflow">while</span> ( ptr[0] && ptr!=ptrEnd ) <a name="l00333"></a>00333 { <a name="l00334"></a>00334 <span class="comment">// Find next number: (non white-space character):</span> <a name="l00335"></a>00335 <span class="keywordflow">while</span> (ptr[0] && (ptr[0]==<span class="charliteral">' '</span> || ptr[0]==<span class="charliteral">'\t'</span> || ptr[0]==<span class="charliteral">'\r'</span> || ptr[0]==<span class="charliteral">'\n'</span>)) <a name="l00336"></a>00336 ptr++; <a name="l00337"></a>00337 <span class="keywordflow">if</span> (fil.size()<=i) fil.resize(fil.size()+512); <a name="l00338"></a>00338 <span class="comment">// Convert to "double":</span> <a name="l00339"></a>00339 fil[i] = strtod(ptr,&ptrEnd); <a name="l00340"></a>00340 <span class="comment">// A valid conversion has been done?</span> <a name="l00341"></a>00341 <span class="keywordflow">if</span> (ptr!=ptrEnd) <a name="l00342"></a>00342 { <a name="l00343"></a>00343 i++; <span class="comment">// Yes</span> <a name="l00344"></a>00344 ptr = ptrEnd; <a name="l00345"></a>00345 ptrEnd = NULL; <a name="l00346"></a>00346 } <a name="l00347"></a>00347 }; <span class="comment">// end while procesing this row</span> <a name="l00348"></a>00348 <a name="l00349"></a>00349 <span class="comment">// "i": # of columns:</span> <a name="l00350"></a>00350 <span class="keywordflow">if</span> ((Derived::ColsAtCompileTime!=<a class="code" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2" title="This value means that a quantity is not known at compile-time, and that instead the value is stored i...">Eigen::Dynamic</a> && <a class="code" href="class_eigen_1_1_dense_base.html#a0b34caae3eba4bdda82764279e0ed4a5" title="The type of indices.">Index</a>(i)!=Derived::ColsAtCompileTime) ) <a name="l00351"></a>00351 <span class="keywordflow">throw</span> <a class="code" href="classstd_1_1runtime__error.html" title="STL class.">std::runtime_error</a>(<span class="stringliteral">"loadFromTextFile: The matrix in the text file does not match fixed matrix size"</span>); <a name="l00352"></a>00352 <span class="keywordflow">if</span> (Derived::ColsAtCompileTime==<a class="code" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2" title="This value means that a quantity is not known at compile-time, and that instead the value is stored i...">Eigen::Dynamic</a> && nRows>0 && <a class="code" href="class_eigen_1_1_dense_base.html#a0b34caae3eba4bdda82764279e0ed4a5" title="The type of indices.">Index</a>(i)!=cols() ) <a name="l00353"></a>00353 <span class="keywordflow">throw</span> <a class="code" href="classstd_1_1runtime__error.html" title="STL class.">std::runtime_error</a>(<span class="stringliteral">"loadFromTextFile: The matrix in the text file does not have the same number of columns in all rows"</span>); <a name="l00354"></a>00354 <a name="l00355"></a>00355 <span class="comment">// Append to the matrix:</span> <a name="l00356"></a>00356 <span class="keywordflow">if</span> ( Derived::RowsAtCompileTime==<a class="code" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2" title="This value means that a quantity is not known at compile-time, and that instead the value is stored i...">Eigen::Dynamic</a> || Derived::ColsAtCompileTime==<a class="code" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2" title="This value means that a quantity is not known at compile-time, and that instead the value is stored i...">Eigen::Dynamic</a> ) <a name="l00357"></a>00357 <a class="code" href="structinternal__mrpt_1_1_mat_or_vec_resizer.html">internal_mrpt::MatOrVecResizer<Derived::RowsAtCompileTime,Derived::ColsAtCompileTime>::doit</a>(derived(),nRows+1,i); <a name="l00358"></a>00358 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (Derived::RowsAtCompileTime!=<a class="code" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2" title="This value means that a quantity is not known at compile-time, and that instead the value is stored i...">Eigen::Dynamic</a> && <span class="keywordtype">int</span>(nRows)>=Derived::RowsAtCompileTime) <a name="l00359"></a>00359 <span class="keywordflow">throw</span> <a class="code" href="classstd_1_1runtime__error.html" title="STL class.">std::runtime_error</a>(<span class="stringliteral">"loadFromTextFile: Read more rows than the capacity of the fixed sized matrix."</span>); <a name="l00360"></a>00360 <a name="l00361"></a>00361 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> q=0;q<i;q++) <a name="l00362"></a>00362 coeffRef(nRows,q) = <a class="code" href="class_eigen_1_1_dense_base.html#ab151c7c751122a18f56f56bada8ec7d5">Scalar</a>(fil[q]); <a name="l00363"></a>00363 <a name="l00364"></a>00364 nRows++; <a name="l00365"></a>00365 } <span class="comment">// end if fgets</span> <a name="l00366"></a>00366 } <span class="comment">// end while not feof</span> <a name="l00367"></a>00367 <a name="l00368"></a>00368 <span class="comment">// Report error as exception</span> <a name="l00369"></a>00369 <span class="keywordflow">if</span> (!nRows) <a name="l00370"></a>00370 <span class="keywordflow">throw</span> <a class="code" href="classstd_1_1runtime__error.html" title="STL class.">std::runtime_error</a>(<span class="stringliteral">"loadFromTextFile: Error loading from text file"</span>); <a name="l00371"></a>00371 } <a name="l00372"></a>00372 <a name="l00373"></a>00373 <a name="l00374"></a>00374 <span class="preprocessor">#endif // guard define</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 1.7.5</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>