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<div class="title">CMatrixFixedNumeric.h</div> </div>
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<a href="_c_matrix_fixed_numeric_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CMatrixFixedNumeric_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CMatrixFixedNumeric_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_array_8h.html">mrpt/math/CArray.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="math__frwds_8h.html">mrpt/math/math_frwds.h</a>></span> <span class="comment">// Fordward declarations</span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keyword">namespace </span>math
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">using namespace </span>mrpt::system;
<a name="l00040"></a>00040 <span class="keyword">using namespace </span>mrpt::poses;
<a name="l00041"></a>00041 <span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment"> /** A numeric matrix of compile-time fixed size.</span>
<a name="l00043"></a>00043 <span class="comment"> * Basically, this class is a wrapper on Eigen::Matrix<T,NROWS,NCOLS>, but</span>
<a name="l00044"></a>00044 <span class="comment"> * with a RowMajor element memory layout (except for column vectors).</span>
<a name="l00045"></a>00045 <span class="comment"> *</span>
<a name="l00046"></a>00046 <span class="comment"> * These matrices also have iterators to access all the elements in the matrix as a sequence, starting from the element (0,0), then row by row, from left to right.</span>
<a name="l00047"></a>00047 <span class="comment"> *</span>
<a name="l00048"></a>00048 <span class="comment"> * \note This class exists for backward compatibility of ancient times when MRPT didn't rely on Eigen, feel free to directly use Eigen::Matrix<> types instead.</span>
<a name="l00049"></a>00049 <span class="comment"> * \sa CMatrixTemplateNumeric (for dynamic-size matrices)</span>
<a name="l00050"></a>00050 <span class="comment"> * \note For a complete introduction to Matrices and vectors in MRPT, see: http://www.mrpt.org/Matrices_vectors_arrays_and_Linear_Algebra_MRPT_and_Eigen_classes</span>
<a name="l00051"></a>00051 <span class="comment"> * \ingroup mrpt_base_grp</span>
<a name="l00052"></a>00052 <span class="comment"> */</span>
<a name="l00053"></a>00053 <span class="keyword">template</span> <<span class="keyword">typename</span> T,<span class="keywordtype">size_t</span> NROWS,<span class="keywordtype">size_t</span> NCOLS>
<a name="l00054"></a>00054 <span class="keyword">class </span>CMatrixFixedNumeric :
<a name="l00055"></a>00055 <span class="keyword">public</span> Eigen::Matrix<
<a name="l00056"></a>00056 T,
<a name="l00057"></a>00057 NROWS,
<a name="l00058"></a>00058 NCOLS,
<a name="l00059"></a>00059 <span class="comment">// Use row major storage for backward compatibility with MRPT matrices in all cases, except in column vectors:</span>
<a name="l00060"></a>00060 Eigen::AutoAlign |
<a name="l00061"></a>00061 ( (NCOLS==1 && NROWS!=1) ? Eigen::ColMajor : Eigen::RowMajor )
<a name="l00062"></a>00062 >
<a name="l00063"></a>00063 {
<a name="l00064"></a>00064 <span class="keyword">public</span>:
<a name="l00065"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a1df3b132c132f6b3950e61b17c84e2a2">00065</a> <span class="keyword">typedef</span> Eigen::Matrix<T,NROWS,NCOLS, Eigen::AutoAlign | ( (NCOLS==1 && NROWS!=1) ? Eigen::ColMajor : Eigen::RowMajor ) > <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a1df3b132c132f6b3950e61b17c84e2a2" title="Base class typedef.">Base</a>;
<a name="l00066"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a81ed29014335662721a2c81fda722c84">00066</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<T,NROWS,NCOLS></a> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a81ed29014335662721a2c81fda722c84">mrpt_autotype</a>;
<a name="l00067"></a>00067
<a name="l00068"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#acabdb4603bced3768d20efef7d401c01">00068</a> <a class="code" href="base_2include_2mrpt_2utils_2types_8h.html#a5423f1c8bf92c8c2bb6592ee8ac333ef">MRPT_EIGEN_DERIVED_CLASS_CTOR_OPERATOR_EQUAL</a>(<a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric</a>) <span class="comment">// Implements ctor and "operator =" for any other Eigen class</span>
<a name="l00069"></a>00069 <a class="code" href="math__frwds_8h.html#a62ee3e474e8ff7287af332daa529f7f8">MRPT_MATRIX_CONSTRUCTORS_FROM_POSES</a>(<a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric</a>)
<a name="l00070"></a>00070 <span class="comment"></span>
<a name="l00071"></a>00071 <span class="comment"> /** Default constructor, initializes all elements to zero */</span>
<a name="l00072"></a>00072 inline <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric</a>() : <a class="code" href="class_eigen_1_1_matrix.html">Base</a>() { Base::setZero(); }
<a name="l00073"></a>00073 <span class="comment"></span>
<a name="l00074"></a>00074 <span class="comment"> /** Constructor from an array in row major */</span>
<a name="l00075"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#adae2543cd2b9be27d8e3ae5c6af43164">00075</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#adae2543cd2b9be27d8e3ae5c6af43164" title="Constructor from an array in row major.">CMatrixFixedNumeric</a>(<span class="keyword">const</span> T * vals) : <a class="code" href="class_eigen_1_1_matrix.html">Base</a>(vals) { }
<a name="l00076"></a>00076 <span class="comment"></span>
<a name="l00077"></a>00077 <span class="comment"> /** Constructor which leaves the matrix uninitialized.</span>
<a name="l00078"></a>00078 <span class="comment"> * Example of usage: CMatrixFixedNumeric<double,3,2> M(UNINITIALIZED_MATRIX);</span>
<a name="l00079"></a>00079 <span class="comment"> */</span>
<a name="l00080"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a25c2d4288bbc6da6da5e0fb8e706da0c">00080</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a25c2d4288bbc6da6da5e0fb8e706da0c" title="Constructor which leaves the matrix uninitialized.">CMatrixFixedNumeric</a>(<a class="code" href="namespacemrpt_1_1math.html#a27e8ae8971ff5aa1c39f1f9be334d73a" title="For usage in one of the constructors of CMatrixFixedNumeric or CMatrixTemplate (and derived classes)...">TConstructorFlags_Matrices</a> constructor_flag) : <a class="code" href="class_eigen_1_1_matrix.html">Base</a>() { }
<a name="l00081"></a>00081
<a name="l00082"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a9478e9d19c5c5debb1a9e2876e021e94">00082</a> <span class="keyword">template</span><<span class="keywordtype">size_t</span> N,<span class="keyword">typename</span> ReturnType> <span class="keyword">inline</span> ReturnType <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a9478e9d19c5c5debb1a9e2876e021e94">getVicinity</a>(<span class="keywordtype">size_t</span> c,<span class="keywordtype">size_t</span> r)<span class="keyword"> const </span>{
<a name="l00083"></a>00083 <span class="keywordflow">return</span> detail::getVicinity<CMatrixFixedNumeric<T,NROWS,NCOLS>,T,ReturnType,N>::get(c,r,*<span class="keyword">this</span>);
<a name="l00084"></a>00084 }
<a name="l00085"></a>00085
<a name="l00086"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#ad7d4f991569f6073911bc945e0312ee6">00086</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> loadFromArray(<span class="keyword">const</span> T* vals)
<a name="l00087"></a>00087 {
<a name="l00088"></a>00088 <a class="code" href="class_eigen_1_1_matrix.html">Base</a> b(vals);
<a name="l00089"></a>00089 *<span class="keyword">this</span> = b;
<a name="l00090"></a>00090 }
<a name="l00091"></a>00091 <span class="comment"></span>
<a name="l00092"></a>00092 <span class="comment"> /** == comparison of two matrices; it differs from default Eigen operator in that returns false if matrices are of different sizes instead of raising an assert. */</span>
<a name="l00093"></a>00093 <span class="keyword">template</span> <<span class="keyword">typename</span> Derived>
<a name="l00094"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#ae711e140f7ac37b302e5ffabf854e576">00094</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#ad4a5f953c6f98c279c7d3ff13bbb223a">operator ==</a>(<span class="keyword">const</span> <a class="code" href="class_eigen_1_1_matrix_base.html">Eigen::MatrixBase<Derived></a>& m2)<span class="keyword"> const</span>
<a name="l00095"></a>00095 <span class="keyword"> </span>{
<a name="l00096"></a>00096 <span class="keywordflow">return</span> Base::cols()==m2.cols() &&
<a name="l00097"></a>00097 Base::rows()==m2.rows() &&
<a name="l00098"></a>00098 Base::cwiseEqual(m2).all();
<a name="l00099"></a>00099 }<span class="comment"></span>
<a name="l00100"></a>00100 <span class="comment"> /** != comparison of two matrices; it differs from default Eigen operator in that returns true if matrices are of different sizes instead of raising an assert. */</span>
<a name="l00101"></a>00101 <span class="keyword">template</span> <<span class="keyword">typename</span> Derived>
<a name="l00102"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html#a943dc0c3f38fb208a6e776b1df835dc3">00102</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#a9530d437eede574017f58f04ad36bcf9">operator !=</a>(<span class="keyword">const</span> <a class="code" href="class_eigen_1_1_matrix_base.html">Eigen::MatrixBase<Derived></a>& m2)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> !((*this)==m2); }
<a name="l00103"></a>00103
<a name="l00104"></a>00104
<a name="l00105"></a>00105 }; <span class="comment">// end of class definition ------------------------------</span>
<a name="l00106"></a>00106 <span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment"> /** @name Typedefs for common sizes</span>
<a name="l00108"></a>00108 <span class="comment"> @{ */</span>
<a name="l00109"></a><a class="code" href="namespacemrpt_1_1math.html#a9a3e1b8b610feeb6403638596bdc4578">00109</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric<double,2,2></a> <a class="code" href="namespacemrpt_1_1math.html#a9a3e1b8b610feeb6403638596bdc4578">CMatrixDouble22</a>;
<a name="l00110"></a><a class="code" href="namespacemrpt_1_1math.html#a83158a9ba61c5aab61f1d8fe0bfa4b36">00110</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,2,3></a> <a class="code" href="namespacemrpt_1_1math.html#a83158a9ba61c5aab61f1d8fe0bfa4b36">CMatrixDouble23</a>;
<a name="l00111"></a><a class="code" href="namespacemrpt_1_1math.html#ab43112bba01b14ce19fc4b3f247e0ee2">00111</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,3,2></a> <a class="code" href="namespacemrpt_1_1math.html#ab43112bba01b14ce19fc4b3f247e0ee2">CMatrixDouble32</a>;
<a name="l00112"></a><a class="code" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">00112</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric<double,3,3></a> <a class="code" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a>;
<a name="l00113"></a><a class="code" href="namespacemrpt_1_1math.html#a25a1ba39a478a66d24a4ecfb9c585c79">00113</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric<double,4,4></a> <a class="code" href="namespacemrpt_1_1math.html#a25a1ba39a478a66d24a4ecfb9c585c79">CMatrixDouble44</a>;
<a name="l00114"></a><a class="code" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">00114</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric<double,6,6></a> <a class="code" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">CMatrixDouble66</a>;
<a name="l00115"></a><a class="code" href="namespacemrpt_1_1math.html#aed1f2021f6c0dc0dd77a96972acaf43a">00115</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric<double,7,7></a> <a class="code" href="namespacemrpt_1_1math.html#aed1f2021f6c0dc0dd77a96972acaf43a">CMatrixDouble77</a>;
<a name="l00116"></a><a class="code" href="namespacemrpt_1_1math.html#ae0f1c00b212046eb2da2d2b706596a78">00116</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,1,3></a> <a class="code" href="namespacemrpt_1_1math.html#ae0f1c00b212046eb2da2d2b706596a78">CMatrixDouble13</a>;
<a name="l00117"></a><a class="code" href="namespacemrpt_1_1math.html#a736fe777fa3e06f44ee25115ea3bfe45">00117</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,3,1></a> <a class="code" href="namespacemrpt_1_1math.html#a736fe777fa3e06f44ee25115ea3bfe45">CMatrixDouble31</a>;
<a name="l00118"></a><a class="code" href="namespacemrpt_1_1math.html#a48ff4a54c17399392608a3594b0a4465">00118</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,1,2></a> <a class="code" href="namespacemrpt_1_1math.html#a48ff4a54c17399392608a3594b0a4465">CMatrixDouble12</a>;
<a name="l00119"></a><a class="code" href="namespacemrpt_1_1math.html#a08a16a69a7e42f7c4dca7c5136b41c46">00119</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,2,1></a> <a class="code" href="namespacemrpt_1_1math.html#a08a16a69a7e42f7c4dca7c5136b41c46">CMatrixDouble21</a>;
<a name="l00120"></a><a class="code" href="namespacemrpt_1_1math.html#a52586c80c3b0ed450e391f2b94120aa1">00120</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,6,1></a> <a class="code" href="namespacemrpt_1_1math.html#a52586c80c3b0ed450e391f2b94120aa1">CMatrixDouble61</a>;
<a name="l00121"></a><a class="code" href="namespacemrpt_1_1math.html#afb229aef8f727e036d6a14a14965ffde">00121</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,1,6></a> <a class="code" href="namespacemrpt_1_1math.html#afb229aef8f727e036d6a14a14965ffde">CMatrixDouble16</a>;
<a name="l00122"></a><a class="code" href="namespacemrpt_1_1math.html#a6c38ff71e411e6b73d1b7de1f18bf820">00122</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,7,1></a> <a class="code" href="namespacemrpt_1_1math.html#a6c38ff71e411e6b73d1b7de1f18bf820">CMatrixDouble71</a>;
<a name="l00123"></a><a class="code" href="namespacemrpt_1_1math.html#a5977d8672735efc38769929ab742a917">00123</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,1,7></a> <a class="code" href="namespacemrpt_1_1math.html#a5977d8672735efc38769929ab742a917">CMatrixDouble17</a>;
<a name="l00124"></a><a class="code" href="namespacemrpt_1_1math.html#a04b63d59fd84d9fc948cbdd15123e6a1">00124</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,5,1></a> <a class="code" href="namespacemrpt_1_1math.html#a04b63d59fd84d9fc948cbdd15123e6a1">CMatrixDouble51</a>;
<a name="l00125"></a><a class="code" href="namespacemrpt_1_1math.html#acea06f45d45c97ff31a6b56c11119ece">00125</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<double,1,5></a> <a class="code" href="namespacemrpt_1_1math.html#acea06f45d45c97ff31a6b56c11119ece">CMatrixDouble15</a>;
<a name="l00126"></a>00126
<a name="l00127"></a><a class="code" href="namespacemrpt_1_1math.html#adbd7460227c1e11e792a9ee469550a21">00127</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,2,2></a> <a class="code" href="namespacemrpt_1_1math.html#adbd7460227c1e11e792a9ee469550a21">CMatrixFloat22</a>;
<a name="l00128"></a><a class="code" href="namespacemrpt_1_1math.html#a155c891f48138a92e762159093a212cc">00128</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,2,3></a> <a class="code" href="namespacemrpt_1_1math.html#a155c891f48138a92e762159093a212cc">CMatrixFloat23</a>;
<a name="l00129"></a><a class="code" href="namespacemrpt_1_1math.html#adef9613ac88e052957b5d64804b5bb7d">00129</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,3,2></a> <a class="code" href="namespacemrpt_1_1math.html#adef9613ac88e052957b5d64804b5bb7d">CMatrixFloat32</a>;
<a name="l00130"></a><a class="code" href="namespacemrpt_1_1math.html#aabb5d1bd385a780da2a919cab150690b">00130</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,3,3></a> <a class="code" href="namespacemrpt_1_1math.html#aabb5d1bd385a780da2a919cab150690b">CMatrixFloat33</a>;
<a name="l00131"></a><a class="code" href="namespacemrpt_1_1math.html#a664c31c02eb5b082d94fee583d707de0">00131</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric<float,4,4></a> <a class="code" href="namespacemrpt_1_1math.html#a664c31c02eb5b082d94fee583d707de0">CMatrixFloat44</a>;
<a name="l00132"></a><a class="code" href="namespacemrpt_1_1math.html#ad2b21e08c33da403d02e138c968bf020">00132</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,6,6></a> <a class="code" href="namespacemrpt_1_1math.html#ad2b21e08c33da403d02e138c968bf020">CMatrixFloat66</a>;
<a name="l00133"></a><a class="code" href="namespacemrpt_1_1math.html#a35b9961f1ad7cf92f4354b5f53bf3036">00133</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,7,7></a> <a class="code" href="namespacemrpt_1_1math.html#a35b9961f1ad7cf92f4354b5f53bf3036">CMatrixFloat77</a>;
<a name="l00134"></a><a class="code" href="namespacemrpt_1_1math.html#ad882ef7a63610e5d3921254453bd3bd2">00134</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,1,3></a> <a class="code" href="namespacemrpt_1_1math.html#ad882ef7a63610e5d3921254453bd3bd2">CMatrixFloat13</a>;
<a name="l00135"></a><a class="code" href="namespacemrpt_1_1math.html#a5235013a7473c0f9858038b5003afae1">00135</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,3,1></a> <a class="code" href="namespacemrpt_1_1math.html#a5235013a7473c0f9858038b5003afae1">CMatrixFloat31</a>;
<a name="l00136"></a><a class="code" href="namespacemrpt_1_1math.html#abd1d8263832cd3f65d3210cef735510b">00136</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,1,2></a> <a class="code" href="namespacemrpt_1_1math.html#abd1d8263832cd3f65d3210cef735510b">CMatrixFloat12</a>;
<a name="l00137"></a><a class="code" href="namespacemrpt_1_1math.html#ad8adda5c75c1c1ce2f760a54c31b242b">00137</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,2,1></a> <a class="code" href="namespacemrpt_1_1math.html#ad8adda5c75c1c1ce2f760a54c31b242b">CMatrixFloat21</a>;
<a name="l00138"></a><a class="code" href="namespacemrpt_1_1math.html#a0a9acac569b0891f2cd3385096b32d81">00138</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,6,1></a> <a class="code" href="namespacemrpt_1_1math.html#a0a9acac569b0891f2cd3385096b32d81">CMatrixFloat61</a>;
<a name="l00139"></a><a class="code" href="namespacemrpt_1_1math.html#ac4eb71d01fc81318f2f39cc60bad073c">00139</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,1,6></a> <a class="code" href="namespacemrpt_1_1math.html#ac4eb71d01fc81318f2f39cc60bad073c">CMatrixFloat16</a>;
<a name="l00140"></a><a class="code" href="namespacemrpt_1_1math.html#a47860cb65836c50c0c7a23f13ca9e875">00140</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,7,1></a> <a class="code" href="namespacemrpt_1_1math.html#a47860cb65836c50c0c7a23f13ca9e875">CMatrixFloat71</a>;
<a name="l00141"></a><a class="code" href="namespacemrpt_1_1math.html#a7cb47c537948d7eb2b176aea3146e833">00141</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,1,7></a> <a class="code" href="namespacemrpt_1_1math.html#a7cb47c537948d7eb2b176aea3146e833">CMatrixFloat17</a>;
<a name="l00142"></a><a class="code" href="namespacemrpt_1_1math.html#afc324f66d97f448b20aa657f11de381a">00142</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,5,1></a> <a class="code" href="namespacemrpt_1_1math.html#afc324f66d97f448b20aa657f11de381a">CMatrixFloat51</a>;
<a name="l00143"></a><a class="code" href="namespacemrpt_1_1math.html#a2d3528cb7602ebf978c9bee8fbb60e25">00143</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<float,1,5></a> <a class="code" href="namespacemrpt_1_1math.html#a2d3528cb7602ebf978c9bee8fbb60e25">CMatrixFloat15</a>;<span class="comment"></span>
<a name="l00144"></a>00144 <span class="comment"> /** @} */</span>
<a name="l00145"></a>00145
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="keyword">namespace </span>detail
<a name="l00148"></a>00148 {<span class="comment"></span>
<a name="l00149"></a>00149 <span class="comment"> /**</span>
<a name="l00150"></a>00150 <span class="comment"> * Vicinity traits class specialization for fixed size matrices.</span>
<a name="l00151"></a>00151 <span class="comment"> */</span>
<a name="l00152"></a>00152 <span class="keyword">template</span><<span class="keyword">typename</span> T,<span class="keywordtype">size_t</span> D> <span class="keyword">class </span>VicinityTraits<CMatrixFixedNumeric<T,D,D> > {
<a name="l00153"></a>00153 <span class="keyword">public</span>:
<a name="l00154"></a><a class="code" href="classmrpt_1_1math_1_1detail_1_1_vicinity_traits_3_01_c_matrix_fixed_numeric_3_01_t_00_01_d_00_01_d_01_4_01_4.html#a07d8c14dc68559ec845f1dbc98bcc1a3">00154</a> <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1math_1_1detail_1_1_vicinity_traits_3_01_c_matrix_fixed_numeric_3_01_t_00_01_d_00_01_d_01_4_01_4.html#a07d8c14dc68559ec845f1dbc98bcc1a3">initialize</a>(<a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<T,D,D></a> &mat,<span class="keywordtype">size_t</span> N) {
<a name="l00155"></a>00155 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(N==D);
<a name="l00156"></a>00156 }
<a name="l00157"></a><a class="code" href="classmrpt_1_1math_1_1detail_1_1_vicinity_traits_3_01_c_matrix_fixed_numeric_3_01_t_00_01_d_00_01_d_01_4_01_4.html#ac0d4440d083aa7f7b364e6b50ff3b138">00157</a> <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1math_1_1detail_1_1_vicinity_traits_3_01_c_matrix_fixed_numeric_3_01_t_00_01_d_00_01_d_01_4_01_4.html#ac0d4440d083aa7f7b364e6b50ff3b138">insertInContainer</a>(<a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixFixedNumeric<T,D,D></a> &mat,<span class="keywordtype">size_t</span> r,<span class="keywordtype">size_t</span> c,<span class="keyword">const</span> T &<a class="code" href="eigen__plugins_8h.html#a7b88b312dc3827120dbfc60da344625d" title="Transpose.">t</a>) {
<a name="l00158"></a>00158 mat.get_unsafe(r,c)=<a class="code" href="eigen__plugins_8h.html#a7b88b312dc3827120dbfc60da344625d" title="Transpose.">t</a>;
<a name="l00159"></a>00159 }
<a name="l00160"></a>00160 };
<a name="l00161"></a>00161 } <span class="comment">//End of detail namespace.</span>
<a name="l00162"></a>00162
<a name="l00163"></a>00163
<a name="l00164"></a>00164 } <span class="comment">// End of namespace</span>
<a name="l00165"></a>00165
<a name="l00166"></a>00166 <span class="keyword">namespace </span>utils
<a name="l00167"></a>00167 {
<a name="l00168"></a>00168 <span class="comment">// Extensions to mrpt::utils::TTypeName for matrices:</span>
<a name="l00169"></a>00169 <span class="keyword">template</span><<span class="keyword">typename</span> T,<span class="keywordtype">size_t</span> N,<span class="keywordtype">size_t</span> M> <span class="keyword">struct </span>TTypeName <mrpt::math::CMatrixFixedNumeric<T,N,M> > {
<a name="l00170"></a><a class="code" href="structmrpt_1_1utils_1_1_t_type_name_3_01mrpt_1_1math_1_1_c_matrix_fixed_numeric_3_01_t_00_01_n_00_01_m_01_4_01_4.html#a4c2321fc7d1e934c25f2fb5628c0554c">00170</a> <span class="keyword">static</span> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <span class="keyword">get</span>() { <span class="keywordflow">return</span> <a class="code" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">mrpt::format</a>(<span class="stringliteral">"CMatrixFixedNumeric<%s,%u,%u>"</span>,<a class="code" href="structmrpt_1_1utils_1_1_t_type_name.html" title="A template to obtain the type of its argument as a string at compile time.">TTypeName<T>::get</a>().c_str(),(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>)N,(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>)M); }
<a name="l00171"></a>00171 };
<a name="l00172"></a>00172 }
<a name="l00173"></a>00173
<a name="l00174"></a>00174 } <span class="comment">// End of namespace</span>
<a name="l00175"></a>00175
<a name="l00176"></a>00176 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
