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<div class="title">CMatrixTemplateNumeric.h</div> </div>
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<a href="_c_matrix_template_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 CMatrixTemplateNumeric_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CMatrixTemplateNumeric_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_matrix_template_8h.html">mrpt/math/CMatrixTemplate.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="os_8h.html">mrpt/system/os.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <cmath></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <limits></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="keyword">namespace </span>mrpt
<a name="l00039"></a>00039 {
<a name="l00040"></a><a class="code" href="namespacemrpt_1_1poses.html">00040</a> <span class="keyword">namespace </span>poses
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 <span class="keyword">class </span><a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a>;
<a name="l00043"></a>00043 <span class="keyword">class </span><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a>;
<a name="l00044"></a>00044 <span class="keyword">class </span><a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">CPoint2D</a>;
<a name="l00045"></a>00045 <span class="keyword">class </span><a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">CPoint3D</a>;
<a name="l00046"></a>00046 }
<a name="l00047"></a>00047
<a name="l00048"></a>00048 <span class="keyword">namespace </span>math
<a name="l00049"></a>00049 {
<a name="l00050"></a>00050 <span class="keyword">using namespace </span>mrpt::system;
<a name="l00051"></a>00051 <span class="comment"></span>
<a name="l00052"></a>00052 <span class="comment"> /** A matrix of dynamic size.</span>
<a name="l00053"></a>00053 <span class="comment"> * Basically, this class is a wrapper on Eigen::Matrix<T,Dynamic,Dynamic>, but</span>
<a name="l00054"></a>00054 <span class="comment"> * with a RowMajor element memory layout (except for column vectors).</span>
<a name="l00055"></a>00055 <span class="comment"> *</span>
<a name="l00056"></a>00056 <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="l00057"></a>00057 <span class="comment"> *</span>
<a name="l00058"></a>00058 <span class="comment"> * \sa CMatrixTemplate (a non Eigen lib-based class, which can hold arbitrary objects, not only numerical types).</span>
<a name="l00059"></a>00059 <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="l00060"></a>00060 <span class="comment"> * \ingroup mrpt_base_grp</span>
<a name="l00061"></a>00061 <span class="comment"> */</span>
<a name="l00062"></a>00062 <span class="keyword">template</span> <<span class="keyword">class</span> T>
<a name="l00063"></a>00063 <span class="keyword">class </span>CMatrixTemplateNumeric :
<a name="l00064"></a>00064 <span class="keyword">public</span> Eigen::Matrix<
<a name="l00065"></a>00065 T,
<a name="l00066"></a>00066 Eigen::Dynamic,
<a name="l00067"></a>00067 Eigen::Dynamic,
<a name="l00068"></a>00068 <span class="comment">// Use row major storage for backward compatibility with MRPT matrices in all cases (even in column vectors!)</span>
<a name="l00069"></a>00069 Eigen::AutoAlign | Eigen::RowMajor
<a name="l00070"></a>00070 >
<a name="l00071"></a>00071 {
<a name="l00072"></a>00072 <span class="keyword">public</span>:
<a name="l00073"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html#a78bd6f26e88ee375fda0947c7cb3879b">00073</a> <span class="keyword">typedef</span> Eigen::Matrix<T,Eigen::Dynamic,Eigen::Dynamic,Eigen::AutoAlign|Eigen::RowMajor> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html#a78bd6f26e88ee375fda0947c7cb3879b" title="Base class typedef.">Base</a>;
<a name="l00074"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html#ad4d66b9efac5d71ad0b7c76c9b6daf2f">00074</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixTemplateNumeric<T></a> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html#ad4d66b9efac5d71ad0b7c76c9b6daf2f">mrpt_autotype</a>;
<a name="l00075"></a>00075
<a name="l00076"></a>00076 <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_template_numeric.html" title="A matrix of dynamic size.">CMatrixTemplateNumeric</a>)
<a name="l00077"></a>00077
<a name="l00078"></a>00078 <span class="comment">/** Default constructor, builds a 1x1 matrix */</span>
<a name="l00079"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html#a405942e593e9728012b74ff25015e73a">00079</a> inline <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixTemplateNumeric</a>() : <a class="code" href="class_eigen_1_1_matrix.html">Base</a>(1,1) { Base::setZero(); }
<a name="l00080"></a>00080 <span class="comment"></span>
<a name="l00081"></a>00081 <span class="comment"> /** Constructor that builds a 0x0 matrix (that is, uninitialized), for usage in places where efficiency is a priority.</span>
<a name="l00082"></a>00082 <span class="comment"> * Use as:</span>
<a name="l00083"></a>00083 <span class="comment"> * \code</span>
<a name="l00084"></a>00084 <span class="comment"> * CMatrixTemplateNumeric<double> M( UNINITIALIZED_MATRIX);</span>
<a name="l00085"></a>00085 <span class="comment"> * \endcode</span>
<a name="l00086"></a>00086 <span class="comment"> */</span>
<a name="l00087"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html#ad80d5cf8d0a222d75f5cdf10712797dd">00087</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html#ad80d5cf8d0a222d75f5cdf10712797dd" title="Constructor that builds a 0x0 matrix (that is, uninitialized), for usage in places where efficiency i...">CMatrixTemplateNumeric</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>( 0,0 ) { }
<a name="l00088"></a>00088 <span class="comment"></span>
<a name="l00089"></a>00089 <span class="comment"> /** Constructor, creates a matrix of the given size, filled with zeros. */</span>
<a name="l00090"></a><a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html#a8e52092fd716165cbfed8ad5467d6705">00090</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html#a8e52092fd716165cbfed8ad5467d6705" title="Constructor, creates a matrix of the given size, filled with zeros.">CMatrixTemplateNumeric</a>(<span class="keywordtype">size_t</span> row, <span class="keywordtype">size_t</span> col) : <a class="code" href="class_eigen_1_1_matrix.html">Base</a>(row,col) { Base::setZero(); }
<a name="l00091"></a>00091
<a name="l00092"></a>00092 <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_template_numeric.html" title="A matrix of dynamic size.">CMatrixTemplateNumeric</a>) <span class="comment">// Implements ctor and "operator =" for any other Eigen class</span>
<a name="l00093"></a>00093
<a name="l00094"></a>00094 <span class="comment">/** Assignment operator of other types</span>
<a name="l00095"></a>00095 <span class="comment"> */</span>
<a name="l00096"></a>00096 template <class R>
<a name="l00097"></a>00097 inline <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixTemplateNumeric</a><T>& operator = (const <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template.html" title="This template class provides the basic functionality for a general 2D any-size, resizable container o...">CMatrixTemplate</a><R>& m)
<a name="l00098"></a>00098 {
<a name="l00099"></a>00099 Base::resize( m.getRowCount(), m.getColCount() );
<a name="l00100"></a>00100
<a name="l00101"></a>00101 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; <a class="code" href="eigen__plugins_8h.html#a61275d6dcd40b0676f9a430be46ef876" title="Get number of rows.">i < CMatrixTemplate<T>::getRowCount</a>(); i++)
<a name="l00102"></a>00102 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j=0; <a class="code" href="eigen__plugins_8h.html#a4d49034b9785c1bd62e4d4540a39066b" title="Get number of columns.">j < CMatrixTemplate<T>::getColCount</a>(); j++)
<a name="l00103"></a>00103 Base::coeffRef(i,j) = <span class="keyword">static_cast<</span>T<span class="keyword">></span>(m.get_unsafe(i,j));
<a name="l00104"></a>00104 <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00105"></a>00105 }
<a name="l00106"></a>00106 <span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment"> /** Constructor from a given size and a C array. The array length must match cols x row.</span>
<a name="l00108"></a>00108 <span class="comment"> * \code</span>
<a name="l00109"></a>00109 <span class="comment"> * const double numbers[] = {</span>
<a name="l00110"></a>00110 <span class="comment"> * 1,2,3,</span>
<a name="l00111"></a>00111 <span class="comment"> * 4,5,6 };</span>
<a name="l00112"></a>00112 <span class="comment"> * CMatrixDouble M(3,2, numbers);</span>
<a name="l00113"></a>00113 <span class="comment"> * \endcode</span>
<a name="l00114"></a>00114 <span class="comment"> */</span>
<a name="l00115"></a>00115 <span class="keyword">template</span> <<span class="keyword">typename</span> V, <span class="keywordtype">size_t</span> N>
<a name="l00116"></a>00116 <span class="keyword">inline</span> CMatrixTemplateNumeric(<span class="keywordtype">size_t</span> row, <span class="keywordtype">size_t</span> col, V (&theArray)[N] ) : Base(row,col)
<a name="l00117"></a>00117 {
<a name="l00118"></a>00118 <a class="code" href="mrpt__macros_8h.html#a02c6e78d47a0bae723824559846cc673">ASSERT_EQUAL_</a>(row*col,N)
<a name="l00119"></a>00119 <a class="code" href="mrpt__macros_8h.html#a02c6e78d47a0bae723824559846cc673">ASSERT_EQUAL_</a>(sizeof(theArray[0]),sizeof(T))
<a name="l00120"></a>00120 ::<a class="code" href="group__mrpt__system__os.html#gae1184cfb1f617787dc4c9da98becbe3a" title="An OS and compiler independent version of "memcpy".">memcpy</a>(Base::data(),&theArray[0],sizeof(T)*N); <span class="comment">// Remember, row-major order!</span>
<a name="l00121"></a>00121 }
<a name="l00122"></a>00122 <span class="comment"></span>
<a name="l00123"></a>00123 <span class="comment"> /** Destructor</span>
<a name="l00124"></a>00124 <span class="comment"> */</span>
<a name="l00125"></a>00125 inline ~CMatrixTemplateNumeric() { }
<a name="l00126"></a>00126 <span class="comment"></span>
<a name="l00127"></a>00127 <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="l00128"></a>00128 <span class="keyword">template</span> <<span class="keyword">typename</span> Derived>
<a name="l00129"></a>00129 <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="l00130"></a>00130 <span class="keyword"> </span>{
<a name="l00131"></a>00131 <span class="keywordflow">return</span> Base::cols()==m2.cols() &&
<a name="l00132"></a>00132 Base::rows()==m2.rows() &&
<a name="l00133"></a>00133 Base::cwiseEqual(m2).all();
<a name="l00134"></a>00134 }<span class="comment"></span>
<a name="l00135"></a>00135 <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="l00136"></a>00136 <span class="keyword">template</span> <<span class="keyword">typename</span> Derived>
<a name="l00137"></a>00137 <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="l00138"></a>00138
<a name="l00139"></a>00139 }; <span class="comment">// end of class definition</span>
<a name="l00140"></a>00140
<a name="l00141"></a>00141 <span class="comment"></span>
<a name="l00142"></a>00142 <span class="comment"> /** Declares a matrix of float numbers (non serializable).</span>
<a name="l00143"></a>00143 <span class="comment"> * For a serializable version, use math::CMatrix</span>
<a name="l00144"></a>00144 <span class="comment"> * \sa CMatrixDouble, CMatrix, CMatrixD</span>
<a name="l00145"></a>00145 <span class="comment"> */</span>
<a name="l00146"></a><a class="code" href="namespacemrpt_1_1math.html#a46578d070e41e17dead613002e755aa3">00146</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixTemplateNumeric<float></a> <a class="code" href="namespacemrpt_1_1math.html#a46578d070e41e17dead613002e755aa3" title="Declares a matrix of float numbers (non serializable).">CMatrixFloat</a>;
<a name="l00147"></a>00147 <span class="comment"></span>
<a name="l00148"></a>00148 <span class="comment"> /** Declares a matrix of double numbers (non serializable).</span>
<a name="l00149"></a>00149 <span class="comment"> * For a serializable version, use math::CMatrixD</span>
<a name="l00150"></a>00150 <span class="comment"> * \sa CMatrixFloat, CMatrix, CMatrixD</span>
<a name="l00151"></a>00151 <span class="comment"> */</span>
<a name="l00152"></a><a class="code" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">00152</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric<double></a> <a class="code" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6" title="Declares a matrix of double numbers (non serializable).">CMatrixDouble</a>;
<a name="l00153"></a>00153 <span class="comment"></span>
<a name="l00154"></a>00154 <span class="comment"> /** Declares a matrix of unsigned ints (non serializable).</span>
<a name="l00155"></a>00155 <span class="comment"> * \sa CMatrixDouble, CMatrixFloat</span>
<a name="l00156"></a>00156 <span class="comment"> */</span>
<a name="l00157"></a><a class="code" href="namespacemrpt_1_1math.html#a0b4ab61b41015c3d66936511cc0713b6">00157</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixTemplateNumeric<unsigned int></a> <a class="code" href="namespacemrpt_1_1math.html#a0b4ab61b41015c3d66936511cc0713b6" title="Declares a matrix of unsigned ints (non serializable).">CMatrixUInt</a>;
<a name="l00158"></a>00158 <span class="comment"></span>
<a name="l00159"></a>00159 <span class="comment"> /** Declares a matrix of booleans (non serializable).</span>
<a name="l00160"></a>00160 <span class="comment"> * \sa CMatrixDouble, CMatrixFloat, CMatrixB</span>
<a name="l00161"></a>00161 <span class="comment"> */</span>
<a name="l00162"></a><a class="code" href="namespacemrpt_1_1math.html#a765e955a6829486aae0340e4087964e6">00162</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template.html">CMatrixTemplate<bool></a> <a class="code" href="namespacemrpt_1_1math.html#a765e955a6829486aae0340e4087964e6" title="Declares a matrix of booleans (non serializable).">CMatrixBool</a>;
<a name="l00163"></a>00163
<a name="l00164"></a>00164 <span class="preprocessor">#ifdef HAVE_LONG_DOUBLE</span>
<a name="l00165"></a>00165 <span class="preprocessor"></span><span class="comment"> /** Declares a matrix of "long doubles" (non serializable), or of "doubles" if the compiler does not support "long double".</span>
<a name="l00166"></a>00166 <span class="comment"> * \sa CMatrixDouble, CMatrixFloat</span>
<a name="l00167"></a>00167 <span class="comment"> */</span>
<a name="l00168"></a>00168 <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixTemplateNumeric<long double></a> <a class="code" href="namespacemrpt_1_1math.html#a86e3d3b86e340752db1950fe2ce9cab2" title="Declares a matrix of "long doubles" (non serializable), or of "doubles" if the compiler does not supp...">CMatrixLongDouble</a>;
<a name="l00169"></a>00169 <span class="preprocessor">#else</span>
<a name="l00170"></a>00170 <span class="preprocessor"></span><span class="comment"> /** Declares a matrix of "long doubles" (non serializable), or of "doubles" if the compiler does not support "long double".</span>
<a name="l00171"></a>00171 <span class="comment"> * \sa CMatrixDouble, CMatrixFloat</span>
<a name="l00172"></a>00172 <span class="comment"> */</span>
<a name="l00173"></a><a class="code" href="namespacemrpt_1_1math.html#a86e3d3b86e340752db1950fe2ce9cab2">00173</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric<double></a> <a class="code" href="namespacemrpt_1_1math.html#a86e3d3b86e340752db1950fe2ce9cab2" title="Declares a matrix of "long doubles" (non serializable), or of "doubles" if the compiler does not supp...">CMatrixLongDouble</a>;
<a name="l00174"></a>00174 <span class="preprocessor">#endif</span>
<a name="l00175"></a>00175 <span class="preprocessor"></span>
<a name="l00176"></a>00176
<a name="l00177"></a>00177 <span class="keyword">namespace </span>detail
<a name="l00178"></a>00178 {<span class="comment"></span>
<a name="l00179"></a>00179 <span class="comment"> /**</span>
<a name="l00180"></a>00180 <span class="comment"> * Vicinity traits class specialization for fixed size matrices.</span>
<a name="l00181"></a>00181 <span class="comment"> */</span>
<a name="l00182"></a>00182 <span class="keyword">template</span><<span class="keyword">typename</span> T> <span class="keyword">class </span>VicinityTraits<CMatrixTemplateNumeric<T> > {
<a name="l00183"></a>00183 <span class="keyword">public</span>:
<a name="l00184"></a><a class="code" href="classmrpt_1_1math_1_1detail_1_1_vicinity_traits_3_01_c_matrix_template_numeric_3_01_t_01_4_01_4.html#ab07c541af36731ac2b920476bf9e0ead">00184</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_template_numeric_3_01_t_01_4_01_4.html#ab07c541af36731ac2b920476bf9e0ead">initialize</a>(<a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixTemplateNumeric<T></a> &mat,<span class="keywordtype">size_t</span> N) {
<a name="l00185"></a>00185 mat.setSize(N,N);
<a name="l00186"></a>00186 mat.fill(0);
<a name="l00187"></a>00187 }
<a name="l00188"></a><a class="code" href="classmrpt_1_1math_1_1detail_1_1_vicinity_traits_3_01_c_matrix_template_numeric_3_01_t_01_4_01_4.html#a602db098a3030115f51d527b14f2030f">00188</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_template_numeric_3_01_t_01_4_01_4.html#a602db098a3030115f51d527b14f2030f">insertInContainer</a>(<a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixTemplateNumeric<T></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="l00189"></a>00189 mat.get_unsafe(r,c)=<a class="code" href="eigen__plugins_8h.html#a7b88b312dc3827120dbfc60da344625d" title="Transpose.">t</a>;
<a name="l00190"></a>00190 }
<a name="l00191"></a>00191 };
<a name="l00192"></a>00192 } <span class="comment">//End of detail namespace.</span>
<a name="l00193"></a>00193
<a name="l00194"></a>00194 } <span class="comment">// End of namespace</span>
<a name="l00195"></a>00195
<a name="l00196"></a>00196
<a name="l00197"></a>00197 <span class="keyword">namespace </span>utils
<a name="l00198"></a>00198 {
<a name="l00199"></a>00199 <span class="comment">// Extensions to mrpt::utils::TTypeName for matrices:</span>
<a name="l00200"></a>00200 <span class="keyword">template</span><<span class="keyword">typename</span> T> <span class="keyword">struct </span>TTypeName <mrpt::math::CMatrixTemplateNumeric<T> > {
<a name="l00201"></a><a class="code" href="structmrpt_1_1utils_1_1_t_type_name_3_01mrpt_1_1math_1_1_c_matrix_template_numeric_3_01_t_01_4_01_4.html#abb5fd31ee5bb00a7c3e523ed547deda8">00201</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="classstd_1_1string.html" title="STL class.">std::string</a>(<span class="stringliteral">"CMatrixTemplateNumeric<"</span>)+ <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>( <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>() )+<a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>(<span class="stringliteral">">"</span>); }
<a name="l00202"></a>00202 };
<a name="l00203"></a>00203 }
<a name="l00204"></a>00204
<a name="l00205"></a>00205 } <span class="comment">// End of namespace</span>
<a name="l00206"></a>00206
<a name="l00207"></a>00207
<a name="l00208"></a>00208 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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