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<div class="title">Vector and matrices mathematical operations and other utilities</div> </div>
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Collaboration diagram for Vector and matrices mathematical operations and other utilities:</div>
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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">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="ops__containers_8h.html">ops_containers.h</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>This file implements several operations that operate element-wise on individual or pairs of containers. </p>
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<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class Derived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">const <a class="el" href="class_eigen_1_1_matrix_base.html">Eigen::MatrixBase</a><br class="typebreak"/>
< Derived >::AdjointReturnType </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gab02e2e15de033aa2c5f47096964361ec">mrpt::math::operator~</a> (const <a class="el" href="class_eigen_1_1_matrix_base.html">Eigen::MatrixBase</a>< Derived > &m)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Transpose operator for matrices. <a href="#gab02e2e15de033aa2c5f47096964361ec"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class Derived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_matrix_base.html">Eigen::MatrixBase</a>< Derived ><br class="typebreak"/>
::PlainObject </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gae6aca84fb7a8bb647f606d59facd1e66">mrpt::math::operator!</a> (const <a class="el" href="class_eigen_1_1_matrix_base.html">Eigen::MatrixBase</a>< Derived > &m)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Unary inversion operator. <a href="#gae6aca84fb7a8bb647f606d59facd1e66"></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="classstd_1_1ostream.html">std::ostream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga7fc98d4bb0f7c1ff3b8256ca3ad0420d">mrpt::math::operator<<</a> (<a class="el" href="classstd_1_1ostream.html">std::ostream</a> &out, const <a class="el" href="classstd_1_1vector.html">std::vector</a>< T > &d)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A template function for printing out the contents of a <a class="el" href="classstd_1_1vector.html" title="STL class.">std::vector</a> variable. <a href="#ga7fc98d4bb0f7c1ff3b8256ca3ad0420d"></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="classstd_1_1ostream.html">std::ostream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga2ec8586ed310af79626693f7cd1ccd9e">mrpt::math::operator<<</a> (<a class="el" href="classstd_1_1ostream.html">std::ostream</a> &out, <a class="el" href="classstd_1_1vector.html">std::vector</a>< T > *d)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A template function for printing out the contents of a <a class="el" href="classstd_1_1vector.html" title="STL class.">std::vector</a> variable. <a href="#ga2ec8586ed310af79626693f7cd1ccd9e"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T , size_t N> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga2d62813611cfc616822f8f5b17e184bd">mrpt::math::operator<<</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &ostrm, const CArrayNumeric< T, N > &a)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Binary dump of a CArrayNumeric<T,N> to a stream. <a href="#ga2d62813611cfc616822f8f5b17e184bd"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T , size_t N> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga8c224ad670b1c017f3be1c075fd82b1f">mrpt::math::operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &istrm, CArrayNumeric< T, N > &a)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Binary read of a CArrayNumeric<T,N> from a stream. <a href="#ga8c224ad670b1c017f3be1c075fd82b1f"></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#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="#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="#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="#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="#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="#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="#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="#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="#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="#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="#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="#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="#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="#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="#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="#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="#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="#gab64bd509dec6f39f1db1086bd48b5f45"></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="#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="#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="#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="#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="#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="#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="#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="#ga914e0802031e773745a2c99c3aebdec1"></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="#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="#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="#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="#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="#gae0851fd327043ae2a7054c33a3bbfcde"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
Operators for binary streaming of MRPT matrices</h2></td></tr>
<tr><td class="memTemplParams" colspan="2">template<size_t NROWS, size_t NCOLS> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga56a2bcbd3e333c77935a7e54d6eb9466">mrpt::math::operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, CMatrixFixedNumeric< float, NROWS, NCOLS > &M)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Read operator from a CStream. <a href="#ga56a2bcbd3e333c77935a7e54d6eb9466"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<size_t NROWS, size_t NCOLS> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga745fc9af0a39075b935a4b84c0b392b1">mrpt::math::operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, CMatrixFixedNumeric< double, NROWS, NCOLS > &M)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Read operator from a CStream. <a href="#ga745fc9af0a39075b935a4b84c0b392b1"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<size_t NROWS, size_t NCOLS> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga22527dc2d242a466ca2bcd8f1656594b">mrpt::math::operator<<</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, const CMatrixFixedNumeric< float, NROWS, NCOLS > &M)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Write operator for writing into a CStream. <a href="#ga22527dc2d242a466ca2bcd8f1656594b"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<size_t NROWS, size_t NCOLS> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga0a1091c4d09339131c04d59c9b534a58">mrpt::math::operator<<</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, const CMatrixFixedNumeric< double, NROWS, NCOLS > &M)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Write operator for writing into a CStream. <a href="#ga0a1091c4d09339131c04d59c9b534a58"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
Operators for text streaming of MRPT matrices</h2></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T , size_t NROWS, size_t NCOLS> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1ostream.html">std::ostream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga91b22de0057ca91e09f29a4b56e26976">mrpt::math::operator<<</a> (<a class="el" href="classstd_1_1ostream.html">std::ostream</a> &s, const CMatrixFixedNumeric< T, NROWS, NCOLS > &m)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output. <a href="#ga91b22de0057ca91e09f29a4b56e26976"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1ostream.html">std::ostream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga76d0eeef79e0687814bdee2a24a4c070">mrpt::math::operator<<</a> (<a class="el" href="classstd_1_1ostream.html">std::ostream</a> &s, const CMatrixTemplateNumeric< T > &m)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output. <a href="#ga76d0eeef79e0687814bdee2a24a4c070"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1ostream.html">std::ostream</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga19bbefb659826b1e442bd8cf628b1507">mrpt::math::operator<<</a> (<a class="el" href="classstd_1_1ostream.html">std::ostream</a> &s, const <a class="el" href="structmrpt_1_1dynamicsize__vector.html">mrpt::dynamicsize_vector</a>< T > &m)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Dumps the vector as a row to a text ostream, with the format: "[v1 v2 v3... vN]". <a href="#ga19bbefb659826b1e442bd8cf628b1507"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
Generic std::vector element-wise operations</h2></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T1 , typename T2 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< T1 > & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gabc43a80aa18fe8ffdfe69fed3ad115a9">mrpt::math::operator*=</a> (<a class="el" href="classstd_1_1vector.html">std::vector</a>< T1 > &a, const <a class="el" href="classstd_1_1vector.html">std::vector</a>< T2 > &b)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">a*=b (element-wise multiplication) <a href="#gabc43a80aa18fe8ffdfe69fed3ad115a9"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T1 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< T1 > & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gac10530e74882a9b76ce58891c386fb3e">mrpt::math::operator*=</a> (<a class="el" href="classstd_1_1vector.html">std::vector</a>< T1 > &a, const T1 b)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">a*=k (multiplication by a constant) <a href="#gac10530e74882a9b76ce58891c386fb3e"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T1 , typename T2 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< T1 > </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga6f2d8625a637a5a65585065331b5b0c5">mrpt::math::operator*</a> (const <a class="el" href="classstd_1_1vector.html">std::vector</a>< T1 > &a, const <a class="el" href="classstd_1_1vector.html">std::vector</a>< T2 > &b)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">a*b (element-wise multiplication) <a href="#ga6f2d8625a637a5a65585065331b5b0c5"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T1 , typename T2 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< T1 > & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga28127b8dfe78fea7644c4f2a3517cdef">mrpt::math::operator+=</a> (<a class="el" href="classstd_1_1vector.html">std::vector</a>< T1 > &a, const <a class="el" href="classstd_1_1vector.html">std::vector</a>< T2 > &b)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">a+=b (element-wise sum) <a href="#ga28127b8dfe78fea7644c4f2a3517cdef"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T1 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< T1 > & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga71e2799d7c3a1af520efe49a9d5aa5b3">mrpt::math::operator+=</a> (<a class="el" href="classstd_1_1vector.html">std::vector</a>< T1 > &a, const T1 b)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">a+=b (sum a constant) <a href="#ga71e2799d7c3a1af520efe49a9d5aa5b3"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T1 , typename T2 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< T1 > </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#ga5a1ef801e13687370311dd36eaae6e08">mrpt::math::operator+</a> (const <a class="el" href="classstd_1_1vector.html">std::vector</a>< T1 > &a, const <a class="el" href="classstd_1_1vector.html">std::vector</a>< T2 > &b)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">a+b (element-wise sum) <a href="#ga5a1ef801e13687370311dd36eaae6e08"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T1 , typename T2 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< T1 > </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__container__ops__grp.html#gaaab8379a4418a0a0f60d5a147cad111b">mrpt::math::operator-</a> (const <a class="el" href="classstd_1_1vector.html">std::vector</a>< T1 > &v1, const <a class="el" href="classstd_1_1vector.html">std::vector</a>< T2 > &v2)</td></tr>
</table>
<hr/><h2>Function Documentation</h2>
<a class="anchor" id="ga914e0802031e773745a2c99c3aebdec1"></a><!-- doxytag: member="mrpt::math::correlate_matrix" ref="ga914e0802031e773745a2c99c3aebdec1" args="(const CMatrixTemplateNumeric< T > &a1, const CMatrixTemplateNumeric< T > &a2)" -->
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template<class T > </div>
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<td class="memname">double mrpt::math::correlate_matrix </td>
<td>(</td>
<td class="paramtype">const CMatrixTemplateNumeric< T > & </td>
<td class="paramname"><em>a1</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const CMatrixTemplateNumeric< T > & </td>
<td class="paramname"><em>a2</em> </td>
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<div class="memdoc">
<p>Calculate the correlation between two matrices (by AJOGD @ JAN-2007) </p>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00505">505</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>.</p>
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<a class="anchor" id="ga13e2e339d944b37f2386fc4e0bb56935"></a><!-- doxytag: member="mrpt::math::estimateJacobian" ref="ga13e2e339d944b37f2386fc4e0bb56935" args="(const VECTORLIKE &x, void(*functor)(const VECTORLIKE &x, const USERPARAM &y, VECTORLIKE3 &out), const VECTORLIKE2 &increments, const USERPARAM &userParam, MATRIXLIKE &out_Jacobian)" -->
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template<class VECTORLIKE , class VECTORLIKE2 , class VECTORLIKE3 , class MATRIXLIKE , class USERPARAM > </div>
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<td class="memname">void mrpt::math::estimateJacobian </td>
<td>(</td>
<td class="paramtype">const VECTORLIKE & </td>
<td class="paramname"><em>x</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">void(*)(const VECTORLIKE &x, const USERPARAM &y, VECTORLIKE3 &out) </td>
<td class="paramname"><em>functor</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">const VECTORLIKE2 & </td>
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<td class="paramtype">const USERPARAM & </td>
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<td class="paramtype">MATRIXLIKE & </td>
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<td>)</td>
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<div class="memdoc">
<p>Estimate the Jacobian of a multi-dimensional function around a point "x", using finite differences of a given size in each input dimension. </p>
<p>The template argument USERPARAM is for the data can be passed to the functor. If it is not required, set to "int" or any other basic type.</p>
<p>This is a generic template which works with: VECTORLIKE: vector_float, vector_double, CArrayNumeric<>, double [N], ... MATRIXLIKE: <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixTemplateNumeric</a>, <a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric</a> </p>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00710">710</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
<p>Referenced by <a class="el" href="_c_kalman_filter_capable_8h_source.html#l00459">mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration()</a>, <a class="el" href="_c_levenberg_marquardt_8h_source.html#l00098">mrpt::math::CLevenbergMarquardtTempl::execute()</a>, and <a class="el" href="jacobians_8h_source.html#l00128">mrpt::math::jacobians::jacob_numeric_estimate()</a>.</p>
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<a class="anchor" id="ga7e35ac8264c0ad08d184f5e50ceca5d6"></a><!-- doxytag: member="mrpt::math::extractColumnFromVectorOfVectors" ref="ga7e35ac8264c0ad08d184f5e50ceca5d6" args="(const size_t colIndex, const VECTOR_OF_VECTORS &data, VECTORLIKE &out_column)" -->
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<td class="memname">void mrpt::math::extractColumnFromVectorOfVectors </td>
<td>(</td>
<td class="paramtype">const size_t </td>
<td class="paramname"><em>colIndex</em>, </td>
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<td class="paramkey"></td>
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<td class="paramname"><em>data</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">VECTORLIKE & </td>
<td class="paramname"><em>out_column</em> </td>
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<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>Extract a column from a vector of vectors, and store it in another vector. </p>
<ul>
<li>Input data can be: std::vector<vector_double>, <a class="el" href="classstd_1_1deque.html" title="STL class.">std::deque</a><std::list<double> >, <a class="el" href="classstd_1_1list.html" title="STL class.">std::list</a><<a class="el" href="classmrpt_1_1math_1_1_c_array_double.html">CArrayDouble<5></a> >, etc. etc.</li>
<li>Output is the sequence: data[0][idx],data[1][idx],data[2][idx], etc..</li>
</ul>
<p>For the sake of generality, this function does NOT check the limits in the number of column, unless it's implemented in the [] operator of each of the "rows". </p>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00459">459</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
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<a class="anchor" id="ga2fbe27097242531b344c8d5b9fe148c9"></a><!-- doxytag: member="mrpt::math::factorial" ref="ga2fbe27097242531b344c8d5b9fe148c9" args="(unsigned int n)" -->
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<td class="memname">double BASE_IMPEXP mrpt::math::factorial </td>
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<p>Computes the factorial of an integer number and returns it as a double value (internally it uses logarithms for avoiding overflow). </p>
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<td class="memname">uint64_t BASE_IMPEXP mrpt::math::factorial64 </td>
<td>(</td>
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<p>Computes the factorial of an integer number and returns it as a 64-bit integer number. </p>
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<a class="anchor" id="ga65a4cb93289c9373a8830102a2296e2d"></a><!-- doxytag: member="mrpt::math::homogeneousMatrixInverse" ref="ga65a4cb93289c9373a8830102a2296e2d" args="(const MATRIXLIKE1 &M, MATRIXLIKE2 &out_inverse_M)" -->
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<td class="memname">void mrpt::math::homogeneousMatrixInverse </td>
<td>(</td>
<td class="paramtype">const MATRIXLIKE1 & </td>
<td class="paramname"><em>M</em>, </td>
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<td class="paramkey"></td>
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<td class="paramname"><em>out_inverse_M</em> </td>
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<p>Efficiently compute the inverse of a 4x4 homogeneous matrix by only transposing the rotation 3x3 part and solving the translation with dot products. </p>
<p>This is a generic template which works with: MATRIXLIKE: <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixTemplateNumeric</a>, <a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric</a> </p>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00604">604</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>, <a class="el" href="bits_8h_source.html#l00065">mrpt::math::size()</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
<p>Referenced by <a class="el" href="_c_pose_or_point_8h_source.html#l00219">mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix()</a>.</p>
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<a class="anchor" id="ga44be80165962896f21d32ee9a2098ff0"></a><!-- doxytag: member="mrpt::math::homogeneousMatrixInverse" ref="ga44be80165962896f21d32ee9a2098ff0" args="(const IN_ROTMATRIX &in_R, const IN_XYZ &in_xyz, OUT_ROTMATRIX &out_R, OUT_XYZ &out_xyz)" -->
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<td class="memname">void mrpt::math::homogeneousMatrixInverse </td>
<td>(</td>
<td class="paramtype">const IN_ROTMATRIX & </td>
<td class="paramname"><em>in_R</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">const IN_XYZ & </td>
<td class="paramname"><em>in_xyz</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">OUT_ROTMATRIX & </td>
<td class="paramname"><em>out_R</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">OUT_XYZ & </td>
<td class="paramname"><em>out_xyz</em> </td>
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<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00656">656</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>, <a class="el" href="bits_8h_source.html#l00065">mrpt::math::size()</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
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<a class="anchor" id="gab0feb72f7a668233a13350ecf4a942a3"></a><!-- doxytag: member="mrpt::math::homogeneousMatrixInverse" ref="gab0feb72f7a668233a13350ecf4a942a3" args="(MATRIXLIKE &M)" -->
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template<class MATRIXLIKE > </div>
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<td class="memname">void mrpt::math::homogeneousMatrixInverse </td>
<td>(</td>
<td class="paramtype">MATRIXLIKE & </td>
<td class="paramname"><em>M</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00684">684</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00304">ASSERTDEB_</a>, and <a class="el" href="bits_8h_source.html#l00065">mrpt::math::size()</a>.</p>
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<a class="anchor" id="gaf4a419952a205931911e0a5627a192fe"></a><!-- doxytag: member="mrpt::math::isFinite" ref="gaf4a419952a205931911e0a5627a192fe" args="(float f) MRPT_NO_THROWS" -->
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<p>Returns true if the number is non infinity. </p>
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<p>Returns true if the number is non infinity. </p>
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<p>Returns true if the number is NaN. </p>
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<a class="anchor" id="gaf51d0919fb678849dd010440fc6c7e3d"></a><!-- doxytag: member="mrpt::math::isNaN" ref="gaf51d0919fb678849dd010440fc6c7e3d" args="(double f) MRPT_NO_THROWS" -->
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<p>Returns true if the number is NaN. </p>
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<a class="anchor" id="gac77eb1a332f0b7cd60ecf5918d2f4a9a"></a><!-- doxytag: member="mrpt::math::linspace" ref="gac77eb1a332f0b7cd60ecf5918d2f4a9a" args="(T first, T last, size_t count, VECTOR &out_vector)" -->
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<td>(</td>
<td class="paramtype">T </td>
<td class="paramname"><em>first</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">T </td>
<td class="paramname"><em>last</em>, </td>
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<td class="paramname"><em>count</em>, </td>
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<td class="paramtype">VECTOR & </td>
<td class="paramname"><em>out_vector</em> </td>
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<p>Generates an equidistant sequence of numbers given the first one, the last one and the desired number of points. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__container__ops__grp.html#ga9b7b817146f7f39b83e3b3fbe2225ca5" title="Generates a sequence of values [first,first+STEP,first+2*STEP,...].">sequence</a> </dd></dl>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00094">94</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>Referenced by <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00114">mrpt::math::linspace()</a>.</p>
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<a class="anchor" id="ga2971708259446f11d677f849d0b8a07d"></a><!-- doxytag: member="mrpt::math::linspace" ref="ga2971708259446f11d677f849d0b8a07d" args="(T first, T last, size_t count)" -->
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template<class T > </div>
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<td class="memname"><a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a><T,<a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a>,1> mrpt::math::linspace </td>
<td>(</td>
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<td class="paramname"><em>first</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">T </td>
<td class="paramname"><em>last</em>, </td>
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<td class="paramtype">size_t </td>
<td class="paramname"><em>count</em> </td>
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<td>)</td>
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<p>Generates an equidistant sequence of numbers given the first one, the last one and the desired number of points. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__container__ops__grp.html#ga9b7b817146f7f39b83e3b3fbe2225ca5" title="Generates a sequence of values [first,first+STEP,first+2*STEP,...].">sequence</a> </dd></dl>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00114">114</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00094">mrpt::math::linspace()</a>.</p>
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<a class="anchor" id="ga40e8e47dea9f504a28d2a70ea8ddb158"></a><!-- doxytag: member="mrpt::math::loadVector" ref="ga40e8e47dea9f504a28d2a70ea8ddb158" args="(utils::CFileStream &f, std::vector< int > &d)" -->
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<td>(</td>
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<td class="paramname"><em>f</em>, </td>
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<p>Loads one row of a text file as a numerical <a class="el" href="classstd_1_1vector.html" title="STL class.">std::vector</a>. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>false on EOF or invalid format. The body of the function is implemented in MATH.cpp </dd></dl>
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<a class="anchor" id="ga4b6641faf04526ff4cee645370007ae1"></a><!-- doxytag: member="mrpt::math::loadVector" ref="ga4b6641faf04526ff4cee645370007ae1" args="(utils::CFileStream &f, std::vector< double > &d)" -->
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<p>Loads one row of a text file as a numerical <a class="el" href="classstd_1_1vector.html" title="STL class.">std::vector</a>. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>false on EOF or invalid format. The body of the function is implemented in MATH.cpp </dd></dl>
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><T>& mrpt::math::loadVector </td>
<td>(</td>
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<td class="paramname"><em>v</em>, </td>
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<td class="paramname"><em>theArray</em>[N] </td>
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<p>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). </p>
<div class="fragment"><pre class="fragment"> <a class="code" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> v;
<span class="keyword">const</span> <span class="keywordtype">double</span> numbers[] = { 1,2,3,5,6,7,8,9,10 };
<a class="code" href="group__container__ops__grp.html#ga40e8e47dea9f504a28d2a70ea8ddb158" title="Loads one row of a text file as a numerical std::vector.">loadVector</a>( v, numbers );
</pre></div> <dl class="note"><dt><b>Note:</b></dt><dd>This operator performs the appropiate type castings, if required. </dd></dl>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00765">765</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00284">MRPT_COMPILE_TIME_ASSERT</a>.</p>
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<a class="anchor" id="ga37ffa47225a54cc4effc4b666a99bf8c"></a><!-- doxytag: member="mrpt::math::loadVector" ref="ga37ffa47225a54cc4effc4b666a99bf8c" args="(Eigen::EigenBase< Derived > &v, At(&theArray)[N])" -->
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<td class="paramtype"><a class="el" href="struct_eigen_1_1_eigen_base.html">Eigen::EigenBase</a>< Derived > & </td>
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<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00775">775</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00284">MRPT_COMPILE_TIME_ASSERT</a>, and <a class="el" href="_core_source.html#l00049">Eigen::EigenBase::derived()</a>.</p>
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<a class="anchor" id="gae0851fd327043ae2a7054c33a3bbfcde"></a><!-- doxytag: member="mrpt::math::make_vector" ref="gae0851fd327043ae2a7054c33a3bbfcde" args="(const T val1,...)" -->
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<p>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. </p>
<p>Some examples:</p>
<div class="fragment"><pre class="fragment"> <a class="code" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> = make_vector<4,double>(1.0,3.0,4.0,5.0);
<a class="code" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> = make_vector<2,float>(-8.12, 3e4);
</pre></div>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00799">799</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00284">MRPT_COMPILE_TIME_ASSERT</a>.</p>
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<a class="anchor" id="gafa11ba6f88e921e59b8971131fb1ec06"></a><!-- doxytag: member="mrpt::math::medianFilter" ref="gafa11ba6f88e921e59b8971131fb1ec06" args="(const std::vector< double > &inV, std::vector< double > &outV, const int &winSize, const int &numberOfSigmas=2)" -->
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<a class="anchor" id="gab64bd509dec6f39f1db1086bd48b5f45"></a><!-- doxytag: member="mrpt::math::normalize" ref="gab64bd509dec6f39f1db1086bd48b5f45" args="(const VEC1 &v, VEC2 &out_v)" -->
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<p>Normalize a vector, such as its norm is the unity. </p>
<p>If the vector has a null norm, the output is a null vector. </p>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00208">208</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="bits_8h_source.html#l00161">mrpt::utils::square()</a>.</p>
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<a class="anchor" id="gaee0433b2568e6a7847b0841d08722a51"></a><!-- doxytag: member="mrpt::math::ones" ref="gaee0433b2568e6a7847b0841d08722a51" args="(size_t count)" -->
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<td>(</td>
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<p>Generates a vector of all ones of the given length. </p>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00144">144</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
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<a class="anchor" id="gae6aca84fb7a8bb647f606d59facd1e66"></a><!-- doxytag: member="mrpt::math::operator!" ref="gae6aca84fb7a8bb647f606d59facd1e66" args="(const Eigen::MatrixBase< Derived > &m)" -->
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<p>Unary inversion operator. </p>
<p>Definition at line <a class="el" href="ops__matrices_8h_source.html#l00136">136</a> of file <a class="el" href="ops__matrices_8h_source.html">ops_matrices.h</a>.</p>
<p>References <a class="el" href="_core_source.html#l00493">Eigen::MatrixBase::inv()</a>.</p>
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<a class="anchor" id="ga6f2d8625a637a5a65585065331b5b0c5"></a><!-- doxytag: member="mrpt::math::operator*" ref="ga6f2d8625a637a5a65585065331b5b0c5" args="(const std::vector< T1 > &a, const std::vector< T2 > &b)" -->
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<p>a*b (element-wise multiplication) </p>
<p>Definition at line <a class="el" href="ops__vectors_8h_source.html#l00072">72</a> of file <a class="el" href="ops__vectors_8h_source.html">ops_vectors.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00285">ASSERT_EQUAL_</a>.</p>
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<a class="anchor" id="gabc43a80aa18fe8ffdfe69fed3ad115a9"></a><!-- doxytag: member="mrpt::math::operator*=" ref="gabc43a80aa18fe8ffdfe69fed3ad115a9" args="(std::vector< T1 > &a, const std::vector< T2 > &b)" -->
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<p>a*=b (element-wise multiplication) </p>
<p>Definition at line <a class="el" href="ops__vectors_8h_source.html#l00053">53</a> of file <a class="el" href="ops__vectors_8h_source.html">ops_vectors.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00285">ASSERT_EQUAL_</a>.</p>
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<a class="anchor" id="gac10530e74882a9b76ce58891c386fb3e"></a><!-- doxytag: member="mrpt::math::operator*=" ref="gac10530e74882a9b76ce58891c386fb3e" args="(std::vector< T1 > &a, const T1 b)" -->
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<p>a*=k (multiplication by a constant) </p>
<p>Definition at line <a class="el" href="ops__vectors_8h_source.html#l00063">63</a> of file <a class="el" href="ops__vectors_8h_source.html">ops_vectors.h</a>.</p>
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<a class="anchor" id="ga5a1ef801e13687370311dd36eaae6e08"></a><!-- doxytag: member="mrpt::math::operator+" ref="ga5a1ef801e13687370311dd36eaae6e08" args="(const std::vector< T1 > &a, const std::vector< T2 > &b)" -->
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<p>a+b (element-wise sum) </p>
<p>Definition at line <a class="el" href="ops__vectors_8h_source.html#l00102">102</a> of file <a class="el" href="ops__vectors_8h_source.html">ops_vectors.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00285">ASSERT_EQUAL_</a>.</p>
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<a class="anchor" id="ga28127b8dfe78fea7644c4f2a3517cdef"></a><!-- doxytag: member="mrpt::math::operator+=" ref="ga28127b8dfe78fea7644c4f2a3517cdef" args="(std::vector< T1 > &a, const std::vector< T2 > &b)" -->
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<p>a+=b (element-wise sum) </p>
<p>Definition at line <a class="el" href="ops__vectors_8h_source.html#l00083">83</a> of file <a class="el" href="ops__vectors_8h_source.html">ops_vectors.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00285">ASSERT_EQUAL_</a>.</p>
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<a class="anchor" id="ga71e2799d7c3a1af520efe49a9d5aa5b3"></a><!-- doxytag: member="mrpt::math::operator+=" ref="ga71e2799d7c3a1af520efe49a9d5aa5b3" args="(std::vector< T1 > &a, const T1 b)" -->
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<p>a+=b (sum a constant) </p>
<p>Definition at line <a class="el" href="ops__vectors_8h_source.html#l00093">93</a> of file <a class="el" href="ops__vectors_8h_source.html">ops_vectors.h</a>.</p>
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<a class="anchor" id="gaaab8379a4418a0a0f60d5a147cad111b"></a><!-- doxytag: member="mrpt::math::operator-" ref="gaaab8379a4418a0a0f60d5a147cad111b" args="(const std::vector< T1 > &v1, const std::vector< T2 > &v2)" -->
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<p>Definition at line <a class="el" href="ops__vectors_8h_source.html#l00112">112</a> of file <a class="el" href="ops__vectors_8h_source.html">ops_vectors.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00285">ASSERT_EQUAL_</a>.</p>
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<a class="anchor" id="ga22527dc2d242a466ca2bcd8f1656594b"></a><!-- doxytag: member="mrpt::math::operator<<" ref="ga22527dc2d242a466ca2bcd8f1656594b" args="(mrpt::utils::CStream &out, const CMatrixFixedNumeric< float, NROWS, NCOLS > &M)" -->
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<p>Write operator for writing into a CStream. </p>
<p>The format is compatible with that of <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html" title="This class is a "CSerializable" wrapper for "CMatrixFloat".">CMatrix</a> & <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html" title="This class is a "CSerializable" wrapper for "CMatrixTemplateNumeric<double>".">CMatrixD</a> </p>
<p>Definition at line <a class="el" href="ops__matrices_8h_source.html#l00081">81</a> of file <a class="el" href="ops__matrices_8h_source.html">ops_matrices.h</a>.</p>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
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<p>Write operator for writing into a CStream. </p>
<p>The format is compatible with that of <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html" title="This class is a "CSerializable" wrapper for "CMatrixFloat".">CMatrix</a> & <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html" title="This class is a "CSerializable" wrapper for "CMatrixTemplateNumeric<double>".">CMatrixD</a> </p>
<p>Definition at line <a class="el" href="ops__matrices_8h_source.html#l00088">88</a> of file <a class="el" href="ops__matrices_8h_source.html">ops_matrices.h</a>.</p>
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<a class="anchor" id="ga91b22de0057ca91e09f29a4b56e26976"></a><!-- doxytag: member="mrpt::math::operator<<" ref="ga91b22de0057ca91e09f29a4b56e26976" args="(std::ostream &s, const CMatrixFixedNumeric< T, NROWS, NCOLS > &m)" -->
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<p>Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output. </p>
<p>Definition at line <a class="el" href="ops__matrices_8h_source.html#l00103">103</a> of file <a class="el" href="ops__matrices_8h_source.html">ops_matrices.h</a>.</p>
<p>References <a class="el" href="_core_source.html#l00082">Eigen::IOFormat::matSuffix</a>.</p>
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<a class="anchor" id="ga76d0eeef79e0687814bdee2a24a4c070"></a><!-- doxytag: member="mrpt::math::operator<<" ref="ga76d0eeef79e0687814bdee2a24a4c070" args="(std::ostream &s, const CMatrixTemplateNumeric< T > &m)" -->
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<p>Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output. </p>
<p>Definition at line <a class="el" href="ops__matrices_8h_source.html#l00111">111</a> of file <a class="el" href="ops__matrices_8h_source.html">ops_matrices.h</a>.</p>
<p>References <a class="el" href="_core_source.html#l00082">Eigen::IOFormat::matSuffix</a>.</p>
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<a class="anchor" id="ga19bbefb659826b1e442bd8cf628b1507"></a><!-- doxytag: member="mrpt::math::operator<<" ref="ga19bbefb659826b1e442bd8cf628b1507" args="(std::ostream &s, const mrpt::dynamicsize_vector< T > &m)" -->
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<p>Dumps the vector as a row to a text ostream, with the format: "[v1 v2 v3... vN]". </p>
<p>Definition at line <a class="el" href="ops__matrices_8h_source.html#l00119">119</a> of file <a class="el" href="ops__matrices_8h_source.html">ops_matrices.h</a>.</p>
<p>References <a class="el" href="_core_source.html#l00083">Eigen::IOFormat::rowSeparator</a>, <a class="el" href="_core_source.html#l00082">Eigen::IOFormat::matPrefix</a>, and <a class="el" href="_core_source.html#l00082">Eigen::IOFormat::matSuffix</a>.</p>
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<p>A template function for printing out the contents of a <a class="el" href="classstd_1_1vector.html" title="STL class.">std::vector</a> variable. </p>
<p>Definition at line <a class="el" href="ops__vectors_8h_source.html#l00125">125</a> of file <a class="el" href="ops__vectors_8h_source.html">ops_vectors.h</a>.</p>
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<a class="anchor" id="ga2ec8586ed310af79626693f7cd1ccd9e"></a><!-- doxytag: member="mrpt::math::operator<<" ref="ga2ec8586ed310af79626693f7cd1ccd9e" args="(std::ostream &out, std::vector< T > *d)" -->
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<p>A template function for printing out the contents of a <a class="el" href="classstd_1_1vector.html" title="STL class.">std::vector</a> variable. </p>
<p>Definition at line <a class="el" href="ops__vectors_8h_source.html#l00140">140</a> of file <a class="el" href="ops__vectors_8h_source.html">ops_vectors.h</a>.</p>
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<a class="anchor" id="ga2d62813611cfc616822f8f5b17e184bd"></a><!-- doxytag: member="mrpt::math::operator<<" ref="ga2d62813611cfc616822f8f5b17e184bd" args="(mrpt::utils::CStream &ostrm, const CArrayNumeric< T, N > &a)" -->
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<p>Binary dump of a CArrayNumeric<T,N> to a stream. </p>
<p>Definition at line <a class="el" href="ops__vectors_8h_source.html#l00154">154</a> of file <a class="el" href="ops__vectors_8h_source.html">ops_vectors.h</a>.</p>
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<a class="anchor" id="ga56a2bcbd3e333c77935a7e54d6eb9466"></a><!-- doxytag: member="mrpt::math::operator>>" ref="ga56a2bcbd3e333c77935a7e54d6eb9466" args="(mrpt::utils::CStream &in, CMatrixFixedNumeric< float, NROWS, NCOLS > &M)" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a>& mrpt::math::operator>> </td>
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<p>Read operator from a CStream. </p>
<p>The format is compatible with that of <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html" title="This class is a "CSerializable" wrapper for "CMatrixFloat".">CMatrix</a> & <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html" title="This class is a "CSerializable" wrapper for "CMatrixTemplateNumeric<double>".">CMatrixD</a> </p>
<p>Definition at line <a class="el" href="ops__matrices_8h_source.html#l00062">62</a> of file <a class="el" href="ops__matrices_8h_source.html">ops_matrices.h</a>.</p>
<p>References <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a290510e87656433dfd093cc31d34371c">mrpt::utils::CStream::ReadObject()</a>, <a class="el" href="mrpt__macros_8h_source.html#l00281">ASSERTMSG_</a>, <a class="el" href="_core_source.html#l00102">Eigen::PlainObjectBase::cols()</a>, <a class="el" href="_core_source.html#l00101">Eigen::PlainObjectBase::rows()</a>, and <a class="el" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8">mrpt::format()</a>.</p>
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<a class="anchor" id="ga745fc9af0a39075b935a4b84c0b392b1"></a><!-- doxytag: member="mrpt::math::operator>>" ref="ga745fc9af0a39075b935a4b84c0b392b1" args="(mrpt::utils::CStream &in, CMatrixFixedNumeric< double, NROWS, NCOLS > &M)" -->
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<p>Read operator from a CStream. </p>
<p>The format is compatible with that of <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html" title="This class is a "CSerializable" wrapper for "CMatrixFloat".">CMatrix</a> & <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html" title="This class is a "CSerializable" wrapper for "CMatrixTemplateNumeric<double>".">CMatrixD</a> </p>
<p>Definition at line <a class="el" href="ops__matrices_8h_source.html#l00071">71</a> of file <a class="el" href="ops__matrices_8h_source.html">ops_matrices.h</a>.</p>
<p>References <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a290510e87656433dfd093cc31d34371c">mrpt::utils::CStream::ReadObject()</a>, <a class="el" href="mrpt__macros_8h_source.html#l00281">ASSERTMSG_</a>, <a class="el" href="_core_source.html#l00102">Eigen::PlainObjectBase::cols()</a>, <a class="el" href="_core_source.html#l00101">Eigen::PlainObjectBase::rows()</a>, and <a class="el" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8">mrpt::format()</a>.</p>
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<a class="anchor" id="ga8c224ad670b1c017f3be1c075fd82b1f"></a><!-- doxytag: member="mrpt::math::operator>>" ref="ga8c224ad670b1c017f3be1c075fd82b1f" args="(mrpt::utils::CStream &istrm, CArrayNumeric< T, N > &a)" -->
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<p>Binary read of a CArrayNumeric<T,N> from a stream. </p>
<p>Definition at line <a class="el" href="ops__vectors_8h_source.html#l00163">163</a> of file <a class="el" href="ops__vectors_8h_source.html">ops_vectors.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00281">ASSERTMSG_</a>, <a class="el" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8">mrpt::format()</a>, and <a class="el" href="_c_stream_8h_source.html#l00109">mrpt::utils::CStream::ReadBufferFixEndianness()</a>.</p>
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<a class="anchor" id="gab02e2e15de033aa2c5f47096964361ec"></a><!-- doxytag: member="mrpt::math::operator~" ref="gab02e2e15de033aa2c5f47096964361ec" args="(const Eigen::MatrixBase< Derived > &m)" -->
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<p>Transpose operator for matrices. </p>
<p>Definition at line <a class="el" href="ops__matrices_8h_source.html#l00130">130</a> of file <a class="el" href="ops__matrices_8h_source.html">ops_matrices.h</a>.</p>
<p>References <a class="el" href="_core_source.html#l00250">Eigen::MatrixBase::adjoint()</a>.</p>
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<p>Round up to the nearest power of two of a given number. </p>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00478">478</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>.</p>
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<p>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, ... </p>
<p>-1 -> 0.1, -2 -> 0.01, ... </p>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00494">494</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="eigen__plugins_8h_source.html#l00490">t()</a>, and <a class="el" href="bits_8h_source.html#l00135">mrpt::utils::round_long()</a>.</p>
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<p>Generates a sequence of values [first,first+STEP,first+2*STEP,...]. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__container__ops__grp.html#gac77eb1a332f0b7cd60ecf5918d2f4a9a" title="Generates an equidistant sequence of numbers given the first one, the last one and the desired number...">linspace</a>, <a class="el" href="group__container__ops__grp.html#ga897c75f8fa614c54da6c0500b869f2a1" title="Generates a sequence of values [first,first+STEP,first+2*STEP,...].">sequenceStdVec</a> </dd></dl>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00123">123</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
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<a class="anchor" id="ga897c75f8fa614c54da6c0500b869f2a1"></a><!-- doxytag: member="mrpt::math::sequenceStdVec" ref="ga897c75f8fa614c54da6c0500b869f2a1" args="(T first, size_t length)" -->
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template<class T , T STEP> </div>
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><T> mrpt::math::sequenceStdVec </td>
<td>(</td>
<td class="paramtype">T </td>
<td class="paramname"><em>first</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>length</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline]</code></td>
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<div class="memdoc">
<p>Generates a sequence of values [first,first+STEP,first+2*STEP,...]. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__container__ops__grp.html#gac77eb1a332f0b7cd60ecf5918d2f4a9a" title="Generates an equidistant sequence of numbers given the first one, the last one and the desired number...">linspace</a>, <a class="el" href="group__container__ops__grp.html#ga9b7b817146f7f39b83e3b3fbe2225ca5" title="Generates a sequence of values [first,first+STEP,first+2*STEP,...].">sequence</a> </dd></dl>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00134">134</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
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<a class="anchor" id="ga6b94c41c7406e0d606111a7b771b72e0"></a><!-- doxytag: member="mrpt::math::unwrap2PiSequence" ref="ga6b94c41c7406e0d606111a7b771b72e0" args="(vector_double &x)" -->
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<td class="memname">void mrpt::math::unwrap2PiSequence </td>
<td>(</td>
<td class="paramtype">vector_double & </td>
<td class="paramname"><em>x</em></td><td>)</td>
<td></td>
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<p>Modify a sequence of angle values such as no consecutive values have a jump larger than PI in absolute value. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__container__ops__grp.html#gaa2ddb99c5a5532075417f855b1c132fd" title="Modifies the given angle to translate it into the ]-pi,pi] range.">wrapToPi</a> </dd></dl>
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<a class="anchor" id="ga4ca4d8616fc5c34fbaddd4d479060b91"></a><!-- doxytag: member="mrpt::math::weightedHistogram" ref="ga4ca4d8616fc5c34fbaddd4d479060b91" args="(const VECTORLIKE1 &values, const VECTORLIKE1 &weights, float binWidth, VECTORLIKE2 &out_binCenters, VECTORLIKE2 &out_binValues)" -->
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<td class="memname">void mrpt::math::weightedHistogram </td>
<td>(</td>
<td class="paramtype">const VECTORLIKE1 & </td>
<td class="paramname"><em>values</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const VECTORLIKE1 & </td>
<td class="paramname"><em>weights</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>binWidth</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">VECTORLIKE2 & </td>
<td class="paramname"><em>out_binCenters</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">VECTORLIKE2 & </td>
<td class="paramname"><em>out_binValues</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
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<div class="memdoc">
<p>Computes the weighted histogram for a vector of values and their corresponding weights. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">values</td><td>[IN] The N values </td></tr>
<tr><td class="paramname">weights</td><td>[IN] The weights for the corresponding N values (don't need to be normalized) </td></tr>
<tr><td class="paramname">binWidth</td><td>[IN] The desired width of the bins </td></tr>
<tr><td class="paramname">out_binCenters</td><td>[OUT] The centers of the M bins generated to cover from the minimum to the maximum value of "values" with the given "binWidth" </td></tr>
<tr><td class="paramname">out_binValues</td><td>[OUT] The ratio of values at each given bin, such as the whole vector sums up the unity. </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__container__ops__grp.html#gabc0b6008e33cc8852a18b746d2fa84d4" title="Computes the weighted histogram for a vector of values and their corresponding log-weights.">weightedHistogramLog</a> </dd></dl>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00351">351</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>, <a class="el" href="ops__containers_8h_source.html#l00117">mrpt::math::minimum()</a>, <a class="el" href="ops__containers_8h_source.html#l00116">mrpt::math::maximum()</a>, <a class="el" href="bits_8h_source.html#l00113">mrpt::utils::round()</a>, <a class="el" href="mrpt__macros_8h_source.html#l00304">ASSERTDEB_</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
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<a class="anchor" id="gabc0b6008e33cc8852a18b746d2fa84d4"></a><!-- doxytag: member="mrpt::math::weightedHistogramLog" ref="gabc0b6008e33cc8852a18b746d2fa84d4" args="(const VECTORLIKE1 &values, const VECTORLIKE1 &log_weights, float binWidth, VECTORLIKE2 &out_binCenters, VECTORLIKE2 &out_binValues)" -->
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<td class="memname">void mrpt::math::weightedHistogramLog </td>
<td>(</td>
<td class="paramtype">const VECTORLIKE1 & </td>
<td class="paramname"><em>values</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const VECTORLIKE1 & </td>
<td class="paramname"><em>log_weights</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>binWidth</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">VECTORLIKE2 & </td>
<td class="paramname"><em>out_binCenters</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">VECTORLIKE2 & </td>
<td class="paramname"><em>out_binValues</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
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<div class="memdoc">
<p>Computes the weighted histogram for a vector of values and their corresponding log-weights. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">values</td><td>[IN] The N values </td></tr>
<tr><td class="paramname">weights</td><td>[IN] The log-weights for the corresponding N values (don't need to be normalized) </td></tr>
<tr><td class="paramname">binWidth</td><td>[IN] The desired width of the bins </td></tr>
<tr><td class="paramname">out_binCenters</td><td>[OUT] The centers of the M bins generated to cover from the minimum to the maximum value of "values" with the given "binWidth" </td></tr>
<tr><td class="paramname">out_binValues</td><td>[OUT] The ratio of values at each given bin, such as the whole vector sums up the unity. </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__container__ops__grp.html#ga4ca4d8616fc5c34fbaddd4d479060b91" title="Computes the weighted histogram for a vector of values and their corresponding weights.">weightedHistogram</a> </dd></dl>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00405">405</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>, <a class="el" href="ops__containers_8h_source.html#l00117">mrpt::math::minimum()</a>, <a class="el" href="ops__containers_8h_source.html#l00116">mrpt::math::maximum()</a>, <a class="el" href="bits_8h_source.html#l00113">mrpt::utils::round()</a>, <a class="el" href="mrpt__macros_8h_source.html#l00304">ASSERTDEB_</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
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<a class="anchor" id="ga81ffbc190c3274c294a71aad568e98e3"></a><!-- doxytag: member="mrpt::math::wrapTo2Pi" ref="ga81ffbc190c3274c294a71aad568e98e3" args="(T a)" -->
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<td class="memname">T mrpt::math::wrapTo2Pi </td>
<td>(</td>
<td class="paramtype">T </td>
<td class="paramname"><em>a</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Modifies the given angle to translate it into the [0,2pi[ range. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Take care of not instancing this template for integer numbers, since it only works for float, double and long double. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__container__ops__grp.html#gaa2ddb99c5a5532075417f855b1c132fd" title="Modifies the given angle to translate it into the ]-pi,pi] range.">wrapToPi</a>, <a class="el" href="group__container__ops__grp.html#ga81ffbc190c3274c294a71aad568e98e3" title="Modifies the given angle to translate it into the [0,2pi[ range.">wrapTo2Pi</a>, <a class="el" href="group__container__ops__grp.html#ga6b94c41c7406e0d606111a7b771b72e0" title="Modify a sequence of angle values such as no consecutive values have a jump larger than PI in absolut...">unwrap2PiSequence</a> </dd></dl>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00177">177</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00165">mrpt::math::wrapTo2PiInPlace()</a>.</p>
<p>Referenced by <a class="el" href="lightweight__geom__data_8h_source.html#l00615">mrpt::math::operator==()</a>, <a class="el" href="lightweight__geom__data_8h_source.html#l00621">mrpt::math::operator!=()</a>, and <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00188">mrpt::math::wrapToPi()</a>.</p>
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<a class="anchor" id="gaf3dcff278e3ccf372395351cfbb4d3dd"></a><!-- doxytag: member="mrpt::math::wrapTo2PiInPlace" ref="gaf3dcff278e3ccf372395351cfbb4d3dd" args="(T &a)" -->
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<td class="memname">void mrpt::math::wrapTo2PiInPlace </td>
<td>(</td>
<td class="paramtype">T & </td>
<td class="paramname"><em>a</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Modifies the given angle to translate it into the [0,2pi[ range. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Take care of not instancing this template for integer numbers, since it only works for float, double and long double. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__container__ops__grp.html#gaa2ddb99c5a5532075417f855b1c132fd" title="Modifies the given angle to translate it into the ]-pi,pi] range.">wrapToPi</a>, <a class="el" href="group__container__ops__grp.html#ga81ffbc190c3274c294a71aad568e98e3" title="Modifies the given angle to translate it into the [0,2pi[ range.">wrapTo2Pi</a>, <a class="el" href="group__container__ops__grp.html#ga6b94c41c7406e0d606111a7b771b72e0" title="Modify a sequence of angle values such as no consecutive values have a jump larger than PI in absolut...">unwrap2PiSequence</a> </dd></dl>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00165">165</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00387">M_2PI</a>.</p>
<p>Referenced by <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00177">mrpt::math::wrapTo2Pi()</a>.</p>
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<a class="anchor" id="gaa2ddb99c5a5532075417f855b1c132fd"></a><!-- doxytag: member="mrpt::math::wrapToPi" ref="gaa2ddb99c5a5532075417f855b1c132fd" args="(T a)" -->
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template<class T > </div>
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<td class="memname">T mrpt::math::wrapToPi </td>
<td>(</td>
<td class="paramtype">T </td>
<td class="paramname"><em>a</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Modifies the given angle to translate it into the ]-pi,pi] range. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Take care of not instancing this template for integer numbers, since it only works for float, double and long double. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__container__ops__grp.html#ga81ffbc190c3274c294a71aad568e98e3" title="Modifies the given angle to translate it into the [0,2pi[ range.">wrapTo2Pi</a>, <a class="el" href="group__container__ops__grp.html#ga69ca7c53c45b1f99c69b45f40ef41e42" title="Modifies the given angle to translate it into the ]-pi,pi] range.">wrapToPiInPlace</a>, <a class="el" href="group__container__ops__grp.html#ga6b94c41c7406e0d606111a7b771b72e0" title="Modify a sequence of angle values such as no consecutive values have a jump larger than PI in absolut...">unwrap2PiSequence</a> </dd></dl>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00188">188</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00177">mrpt::math::wrapTo2Pi()</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00383">M_PI</a>.</p>
<p>Referenced by <a class="el" href="_c_network_of_poses__impl_8h_source.html#l00537">mrpt::graphs::detail::graph_ops::auxEuclid2Dist()</a>, <a class="el" href="geometry_8h_source.html#l00987">mrpt::math::pointIntoQuadrangle()</a>, <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00198">mrpt::math::wrapToPiInPlace()</a>, <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00233">mrpt::math::covariancesAndMeanWeighted()</a>, and <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l01084">mrpt::math::leastSquareLinearFit()</a>.</p>
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<a class="anchor" id="ga69ca7c53c45b1f99c69b45f40ef41e42"></a><!-- doxytag: member="mrpt::math::wrapToPiInPlace" ref="ga69ca7c53c45b1f99c69b45f40ef41e42" args="(T &a)" -->
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<td class="memname">void mrpt::math::wrapToPiInPlace </td>
<td>(</td>
<td class="paramtype">T & </td>
<td class="paramname"><em>a</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Modifies the given angle to translate it into the ]-pi,pi] range. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Take care of not instancing this template for integer numbers, since it only works for float, double and long double. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__container__ops__grp.html#gaa2ddb99c5a5532075417f855b1c132fd" title="Modifies the given angle to translate it into the ]-pi,pi] range.">wrapToPi</a>,<a class="el" href="group__container__ops__grp.html#ga81ffbc190c3274c294a71aad568e98e3" title="Modifies the given angle to translate it into the [0,2pi[ range.">wrapTo2Pi</a>, <a class="el" href="group__container__ops__grp.html#ga6b94c41c7406e0d606111a7b771b72e0" title="Modify a sequence of angle values such as no consecutive values have a jump larger than PI in absolut...">unwrap2PiSequence</a> </dd></dl>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00198">198</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
<p>References <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00188">mrpt::math::wrapToPi()</a>.</p>
<p>Referenced by <a class="el" href="_c_network_of_poses__impl_8h_source.html#l00500">mrpt::graphs::detail::graph_ops::auxMaha2Dist()</a>.</p>
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<a class="anchor" id="ga6a0207f476314788b520568a0a16afc1"></a><!-- doxytag: member="mrpt::math::zeros" ref="ga6a0207f476314788b520568a0a16afc1" args="(size_t count)" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a><T,<a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a>,1> mrpt::math::zeros </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>count</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Generates a vector of all zeros of the given length. </p>
<p>Definition at line <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html#l00152">152</a> of file <a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">base/include/mrpt/math/utils.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
