mrpt::math::CMatrixTemplateNumeric< T > Class Template Reference

This template class extends the class "CMatrixTemplate" with many common operations with numerical matrixes. More...

#include <mrpt/math/CMatrixTemplateNumeric.h>

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List of all members.

Public Types
typedef CMatrixTemplate< T >	BASE
typedef CMatrixTemplateNumeric< T >	mrpt_autotype
Public Member Functions
DECLARE_MRPT_CONTAINER_TYPES DECLARE_MRPT_CONTAINER_IS_MATRIX DECLARE_MRPT_MATRIX_ITERATORS	CMatrixTemplateNumeric (const TPose2D &p)
	CMatrixTemplateNumeric (const TPose3D &p)
	CMatrixTemplateNumeric (const TPose3DQuat &p)
	CMatrixTemplateNumeric (const TPoint2D &p)
	CMatrixTemplateNumeric (const TPoint3D &p)
	CMatrixTemplateNumeric (const mrpt::poses::CPose2D &p)
	CMatrixTemplateNumeric (const mrpt::poses::CPose3D &p)
	CMatrixTemplateNumeric (const mrpt::poses::CPose3DQuat &p)
	CMatrixTemplateNumeric (const mrpt::poses::CPoint2D &p)
	CMatrixTemplateNumeric (const mrpt::poses::CPoint3D &p)
	CMatrixTemplateNumeric ()
	Default constructor, builds a 1x1 matrix.
	CMatrixTemplateNumeric (bool, bool, bool)
	Default constructor, builds a 0x0 matrix, with a signature identical to that of the fixed matrix constructor for uninitialized matrix constructor.
	CMatrixTemplateNumeric (size_t row, size_t col)
	Constructor.
	CMatrixTemplateNumeric (const CMatrixTemplate< T > &m, const size_t cropRowCount, const size_t cropColCount)
	Copy & crop constructor, which copies the given matrix but only up to the given size.
template<size_t NROWS, size_t NCOLS>
	CMatrixTemplateNumeric (const CMatrixFixedNumeric< T, NROWS, NCOLS > &M)
	Copy constructor from a fixed-size matrix.
template<size_t NROWS, size_t NCOLS>
CMatrixTemplateNumeric &	operator= (const CMatrixFixedNumeric< T, NROWS, NCOLS > &M)
	Copy operator from a fixed-size matrix.
template<class R >
CMatrixTemplateNumeric< T > &	operator= (const CMatrixTemplate< R > &m)
	Assignment operator of other types.
template<class R >
	CMatrixTemplateNumeric (const CMatrixTemplate< R > &m)
	Copy constructor from a matrix of any type.
template<typename V , size_t N>
	CMatrixTemplateNumeric (size_t row, size_t col, V(&theArray)[N])
	Constructor from a given size and a C array.
template<typename V >
	CMatrixTemplateNumeric (size_t row, size_t col, const V &theVector)
	Constructor from a given size and a STL container (std::vector, std::list,.
virtual	~CMatrixTemplateNumeric ()
	Destructor.
template<typename V , size_t N>
CMatrixTemplateNumeric &	operator= (V(&theArray)[N])
	Assignment operator for initializing from a C array (The matrix must be set to the correct size before invoking this asignament).
void	setSize (size_t row, size_t col)
	Changes the size of matrix, maintaining its previous content as possible and padding with zeros where applicable.
void	resize (size_t row, size_t col)
	Changes the size of matrix, maintaining its previous content as possible and padding with zeros where applicable.
void	resize (const CMatrixTemplateSize &siz)
	This method just checks has no effects in this class, but raises an exception if the expected size does not match.
void	laplacian (CMatrixTemplateNumeric< T > &ret) const
	Computes the laplacian of the matrix, useful for graph matrixes.
void	svd (CMatrixTemplateNumeric< T > &U, std::vector< T > &W, CMatrixTemplateNumeric< T > &V) const
	Computes the SVD (Singular Value Decomposition) of the matrix.
CMatrixTemplateNumeric< T >	largestEigenvector (T resolution=0.01f, size_t maxIterations=6, int out_Iterations=NULL, float out_estimatedResolution=NULL) const
	Efficiently computes only the biggest eigenvector of the matrix using the Power Method, and returns it as a column vector.
CMatrixTemplateNumeric< T > &	operator^= (const unsigned int &pow)
	combined power and assignment operator
void	scalarPow (T s)
	Scalar power of all elements to a given power, this is diferent of ^ operator.
void	zeros (const size_t row, const size_t col)
	Set all elements to zero.
void	zeros ()
	Set all elements to zero.
void	ones (const size_t row, const size_t col)
	Set all elements to one.
void	ones ()
	Set all elements to one.
void	unit (const size_t row)
	Build an unit matrix.
void	eye (const size_t size)
	Build an unit matrix - this is a shortcut for unit().
void	unit ()
	Build an unit matrix.
void	eye ()
	Build an unit matrix - this is a shortcut for unit().
CMatrixTemplateNumeric< T >	solve (const CMatrixTemplateNumeric< T > &v) const
	Solve the matrix as linear equations system.
CMatrixTemplateNumeric< T >	adj () const
	Computes the adjunt of matrix.
T	cofact (size_t row, size_t col) const
	Computes the rank of the matrix using a slight variation of Gauss method.
T	cond ()
	Computes the cond.
bool	isDiagonal () const
	Checks for matrix type.
bool	isScalar () const
	Checks for matrix type.
bool	isUnit () const
	Checks for matrix type.
bool	isNull () const
	Checks for matrix type.
bool	isSymmetric () const
	Checks for matrix type.
bool	isSkewSymmetric () const
	Checks for matrix type.
bool	isUpperTriangular () const
	Checks for matrix type.
bool	isLowerTriangular () const
	Checks for matrix type.
void	matrix_floor ()
	Round towards minus infinity modifying the matrix (by AJOGD @ JAN-2007).
void	matrix_floor (CMatrixTemplateNumeric< T > &out)
	Round towards minus infinity (by AJOGD @ JAN-2007).
void	matrix_ceil ()
	Round towards plus infinity (by AJOGD @ JAN-2007).
void	find_index_max_value (size_t &umax, size_t &vmax, T &max_val) const
	Finds the maximum value in the matrix, and returns its position.
T	maximumDiagonal () const
	Finds the maximum value in the diagonal of the matrix.
void	find_index_min_value (size_t &umin, size_t &vmin, T &min_val) const
	Finds the minimum value in the matrix, and returns its position.
void	force_symmetry ()
	Force symmetry in the matrix (by AJOGD @ JAN-2007).
void	mean (std::vector< T > &outMeanVector) const
	Computes a row with the mean values of each column in the matrix.
void	meanAndStd (std::vector< T > &outMeanVector, std::vector< T > &outStdVector) const
	Computes a row with the mean values of each column in the matrix and the associated vector with the standard deviation of each column.
void	meanAndStdAll (T &outMean, T &outStd) const
	Computes the mean and standard deviation of all the elements in the matrix as a whole.
void	asCol (CMatrixTemplateNumeric< T > &aux) const
void	asRow (CMatrixTemplateNumeric< T > &aux) const
void	findElementsPassingMahalanobisThreshold (double stdTimes, std::vector< size_t > &rowIndexes, std::vector< size_t > &colIndexes, bool below=false) const
	Finds elements whose values are a given number of times above (or below) the mean, in 1D Mahalanobis distance.
T	sum (size_t firstRow=0, size_t firstCol=0, size_t lastRow=std::numeric_limits< size_t >::max(), size_t lastCol=std::numeric_limits< size_t >::max()) const
	Returns the sum of a given part of the matrix.
void	multiplyByMatrixAndByTransposeNonSymmetric (const CMatrixTemplateNumeric< T > &C, CMatrixTemplateNumeric< T > &R, bool accumOnOutput=false, bool substractInsteadOfSum=false) const
	Computes: R = H * C * H^t , where H is this matrix.

Detailed Description

template<class T>
class mrpt::math::CMatrixTemplateNumeric< T >

This template class extends the class "CMatrixTemplate" with many common operations with numerical matrixes.

The template can be instanced for data types: float, double, long double

The following operators have been implemented:

Implemented Operators	Meaning
x=M(i,j) M(i,j)=x	This () operator is used to access/change the element at i'th row, j'th column. First index is 0.
!M	The matrix inverse M^-1
~M	The matrix transpose M^T
(M^n)	Power of a matrix: (MMM*...M) n times. Use parenthesis with this operator. Use "scalarPow" for the power of individual elements in the matrix.
M1 = M2	Assignment operator: Copy matrix M2 to M1
M1 == M2 M1 != M2	Logical comparison: Returns true or false if all elements are identical.
x * M	Scalar multiplication
M1 * M2	Matrix multiplication, with the usual mathematical meaning
M1 + M2 M1 M2	Matrixes addition and substraction.
M / x	Scalar division
M1 / M2	Equivalent to (M1 * M2^-1)
stream << M;	Write to a binary CStream, since this class is CSerializable
stream >> M;	Read from a binary CStream, since this class is CSerializable

Member Typedef Documentation

template<class T>

typedef CMatrixTemplate<T> mrpt::math::CMatrixTemplateNumeric< T >::BASE

Definition at line 114 of file CMatrixTemplateNumeric.h.

template<class T>

typedef CMatrixTemplateNumeric<T> mrpt::math::CMatrixTemplateNumeric< T >::mrpt_autotype

Definition at line 115 of file CMatrixTemplateNumeric.h.

Constructor & Destructor Documentation

template<class T>

DECLARE_MRPT_CONTAINER_TYPES DECLARE_MRPT_CONTAINER_IS_MATRIX DECLARE_MRPT_MATRIX_ITERATORS mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( const TPose2D & p ) [inline]

Definition at line 122 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( const TPose3D & p ) [inline]

Definition at line 123 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( const TPose3DQuat & p ) [inline]

Definition at line 124 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( const TPoint2D & p ) [inline]

Definition at line 125 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( const TPoint3D & p ) [inline]

Definition at line 126 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( const mrpt::poses::CPose2D & p ) [inline]

Definition at line 128 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( const mrpt::poses::CPose3D & p ) [inline]

Definition at line 129 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( const mrpt::poses::CPose3DQuat & p ) [inline]

Definition at line 130 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( const mrpt::poses::CPoint2D & p ) [inline]

Definition at line 131 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( const mrpt::poses::CPoint3D & p ) [inline]

Definition at line 132 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( )

Default constructor, builds a 1x1 matrix.

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric	(	bool	,
		bool	,
		bool
	)			`[inline]`

Default constructor, builds a 0x0 matrix, with a signature identical to that of the fixed matrix constructor for uninitialized matrix constructor.

Definition at line 138 of file CMatrixTemplateNumeric.h.

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric	(	size_t	row,
		size_t	col
	)

Constructor.

template<class T>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric	(	const CMatrixTemplate< T > &	m,
		const size_t	cropRowCount,
		const size_t	cropColCount
	)			`[inline]`

Copy & crop constructor, which copies the given matrix but only up to the given size.

Definition at line 146 of file CMatrixTemplateNumeric.h.

template<class T>

template<size_t NROWS, size_t NCOLS>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( const CMatrixFixedNumeric< T, NROWS, NCOLS > & M ) [inline, explicit]

Copy constructor from a fixed-size matrix.

Definition at line 151 of file CMatrixTemplateNumeric.h.

template<class T>

template<class R >

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric ( const CMatrixTemplate< R > & m ) [inline]

Copy constructor from a matrix of any type.

Definition at line 176 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename V , size_t N>

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric	(	size_t	row,
		size_t	col,
		V(&)	theArray[N]
	)			`[inline]`

Constructor from a given size and a C array.

The array length must match cols x row.

  const double numbers[] = {
    1,2,3,
    4,5,6 };
         CMatrixDouble   M(3,2, numbers);

Definition at line 189 of file CMatrixTemplateNumeric.h.

template<class T>

template<typename V >

mrpt::math::CMatrixTemplateNumeric< T >::CMatrixTemplateNumeric	(	size_t	row,
		size_t	col,
		const V &	theVector
	)			`[inline]`

Constructor from a given size and a STL container (std::vector, std::list,.

..) with the initial values. The vector length must match cols x row.

Definition at line 195 of file CMatrixTemplateNumeric.h.

template<class T>

virtual mrpt::math::CMatrixTemplateNumeric< T >::~CMatrixTemplateNumeric ( ) [inline, virtual]

Destructor.

Definition at line 200 of file CMatrixTemplateNumeric.h.

Member Function Documentation

template<class T>

CMatrixTemplateNumeric<T> mrpt::math::CMatrixTemplateNumeric< T >::adj ( ) const

Computes the adjunt of matrix.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::asCol ( CMatrixTemplateNumeric< T > & aux ) const

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::asRow ( CMatrixTemplateNumeric< T > & aux ) const

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::cofact	(	size_t	row,
		size_t	col
	)			const

Computes the rank of the matrix using a slight variation of Gauss method.

Computes the cofact.

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::cond ( )

Computes the cond.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::eye ( ) [inline]

Build an unit matrix - this is a shortcut for unit().

Definition at line 298 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::eye ( const size_t size ) [inline]

Build an unit matrix - this is a shortcut for unit().

Definition at line 291 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::find_index_max_value	(	size_t &	umax,
		size_t &	vmax,
		T &	max_val
	)			const

Finds the maximum value in the matrix, and returns its position.

(by AJOGD @ JAN-2007)

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::find_index_min_value	(	size_t &	umin,
		size_t &	vmin,
		T &	min_val
	)			const

Finds the minimum value in the matrix, and returns its position.

(by AJOGD @ JAN-2007)

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::findElementsPassingMahalanobisThreshold	(	double	stdTimes,
		std::vector< size_t > &	rowIndexes,
		std::vector< size_t > &	colIndexes,
		bool	below = `false`
	)			const

Finds elements whose values are a given number of times above (or below) the mean, in 1D Mahalanobis distance.

This returns two lists with the "row" and "column" indexes (i,j) of those elements m[i][j] such as: m[i][j] > mean(matrix) + stdTimes·std(matrix) The elements below the threshold mean(matrix) - stdTimes·std(matrix) can also be obtained setting "below" to "true".

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::force_symmetry ( )

Force symmetry in the matrix (by AJOGD @ JAN-2007).

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isDiagonal ( ) const

Checks for matrix type.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isLowerTriangular ( ) const

Checks for matrix type.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isNull ( ) const

Checks for matrix type.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isScalar ( ) const

Checks for matrix type.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isSkewSymmetric ( ) const

Checks for matrix type.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isSymmetric ( ) const

Checks for matrix type.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isUnit ( ) const

Checks for matrix type.

template<class T>

bool mrpt::math::CMatrixTemplateNumeric< T >::isUpperTriangular ( ) const

Checks for matrix type.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::laplacian ( CMatrixTemplateNumeric< T > & ret ) const

Computes the laplacian of the matrix, useful for graph matrixes.

template<class T>

CMatrixTemplateNumeric<T> mrpt::math::CMatrixTemplateNumeric< T >::largestEigenvector	(	T	resolution = `0.01f`,
		size_t	maxIterations = `6`,
		int *	out_Iterations = `NULL`,
		float *	out_estimatedResolution = `NULL`
	)			const

Efficiently computes only the biggest eigenvector of the matrix using the Power Method, and returns it as a column vector.

The computation time for this method, in a Pentium 4 1.4Ghz is:
T = 7.0867e-008*n² + 1.9191e-005*n + 0.0017494 seconds
where N is the matrix size.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::matrix_ceil ( )

Round towards plus infinity (by AJOGD @ JAN-2007).

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::matrix_floor ( CMatrixTemplateNumeric< T > & out )

Round towards minus infinity (by AJOGD @ JAN-2007).

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::matrix_floor ( )

Round towards minus infinity modifying the matrix (by AJOGD @ JAN-2007).

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::maximumDiagonal ( ) const

Finds the maximum value in the diagonal of the matrix.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::mean ( std::vector< T > & outMeanVector ) const

Computes a row with the mean values of each column in the matrix.

See also:: meanAndStdAll

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::meanAndStd	(	std::vector< T > &	outMeanVector,
		std::vector< T > &	outStdVector
	)			const

Computes a row with the mean values of each column in the matrix and the associated vector with the standard deviation of each column.

See also:: mean,meanAndStdAll

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::meanAndStdAll	(	T &	outMean,
		T &	outStd
	)			const

Computes the mean and standard deviation of all the elements in the matrix as a whole.

See also:: mean,meanAndStd

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::multiplyByMatrixAndByTransposeNonSymmetric	(	const CMatrixTemplateNumeric< T > &	C,
		CMatrixTemplateNumeric< T > &	R,
		bool	accumOnOutput = `false`,
		bool	substractInsteadOfSum = `false`
	)			const

Computes: R = H * C * H^t , where H is this matrix.

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::ones ( )

Set all elements to one.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::ones	(	const size_t	row,
		const size_t	col
	)

Set all elements to one.

template<class T>

template<typename V , size_t N>

CMatrixTemplateNumeric& mrpt::math::CMatrixTemplateNumeric< T >::operator= ( V(&) theArray[N] ) [inline]

Assignment operator for initializing from a C array (The matrix must be set to the correct size before invoking this asignament).

         CMatrixDouble   M(3,2);
  const double numbers[] = {
    1,2,3,
    4,5,6 };
  M = numbers;

Refer also to the constructor with initialization data CMatrixTemplate::CMatrixTemplate

Reimplemented from mrpt::math::CMatrixTemplate< T >.

Definition at line 215 of file CMatrixTemplateNumeric.h.

template<class T>

template<class R >

CMatrixTemplateNumeric<T>& mrpt::math::CMatrixTemplateNumeric< T >::operator= ( const CMatrixTemplate< R > & m ) [inline]

Assignment operator of other types.

Definition at line 164 of file CMatrixTemplateNumeric.h.

template<class T>

template<size_t NROWS, size_t NCOLS>

CMatrixTemplateNumeric& mrpt::math::CMatrixTemplateNumeric< T >::operator= ( const CMatrixFixedNumeric< T, NROWS, NCOLS > & M ) [inline]

Copy operator from a fixed-size matrix.

Definition at line 157 of file CMatrixTemplateNumeric.h.

template<class T>

CMatrixTemplateNumeric<T>& mrpt::math::CMatrixTemplateNumeric< T >::operator^= ( const unsigned int & pow )

combined power and assignment operator

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::resize ( const CMatrixTemplateSize & siz ) [inline]

This method just checks has no effects in this class, but raises an exception if the expected size does not match.

Definition at line 232 of file CMatrixTemplateNumeric.h.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::resize	(	size_t	row,
		size_t	col
	)

Changes the size of matrix, maintaining its previous content as possible and padding with zeros where applicable.

setSize and resize are exactly equivalent methods.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::scalarPow ( T s )

Scalar power of all elements to a given power, this is diferent of ^ operator.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::setSize	(	size_t	row,
		size_t	col
	)

Changes the size of matrix, maintaining its previous content as possible and padding with zeros where applicable.

setSize and resize are exactly equivalent methods.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::math::detail::VicinityTraits< CMatrixTemplateNumeric< T > >::initialize(), mrpt::math::CVectorTemplate< KFTYPE >::likeMatrix(), and mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().

template<class T>

CMatrixTemplateNumeric<T> mrpt::math::CMatrixTemplateNumeric< T >::solve ( const CMatrixTemplateNumeric< T > & v ) const

Solve the matrix as linear equations system.

template<class T>

T mrpt::math::CMatrixTemplateNumeric< T >::sum	(	size_t	firstRow = `0`,
		size_t	firstCol = `0`,
		size_t	lastRow = `std::numeric_limits< size_t >::max()`,
		size_t	lastCol = `std::numeric_limits< size_t >::max()`
	)			const

Returns the sum of a given part of the matrix.

The default value (std::numeric_limits<size_t>::max()) for the last column/row means to sum up to the last column/row.

See also:: sumAll

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::svd	(	CMatrixTemplateNumeric< T > &	U,
		std::vector< T > &	W,
		CMatrixTemplateNumeric< T > &	V
	)			const

Computes the SVD (Singular Value Decomposition) of the matrix.

If "this" matrix is named A with dimensions M x N, this method computes:
A = U * W * V'

, where U is a M x N column orthogonal matrix, W is a diagonal matrix containing the singular values, and V is a NxN matrix.
This method returns the U matrix, the N elements in the diagonal of W as a vector, and the matrix V, NOT TRANSPOSED.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::unit ( )

Build an unit matrix.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::unit ( const size_t row )

Build an unit matrix.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::zeros ( )

Set all elements to zero.

template<class T>

void mrpt::math::CMatrixTemplateNumeric< T >::zeros	(	const size_t	row,
		const size_t	col
	)

Set all elements to zero.

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().

mrpt::math::CMatrixTemplateNumeric< T > Class Template Reference

Public Types

Public Member Functions

Detailed Description

template<class T> class mrpt::math::CMatrixTemplateNumeric< T >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<class T>
class mrpt::math::CMatrixTemplateNumeric< T >