Detailed Description

This template class extends the class "CMatrixTemplate" for storing "objects" at each matrix entry.

This class allows a very efficient representation of sparse matrixes where each cell is an arbitrary C++ class, but its use must carefully observe the following rules:

The type in the template especialization MUST be a class with a proper default constructor.
Initially all entries are set to NULL pointers.
Pointers can be manually asigned, or automatically created through a call to "CMatrixTemplateObjects<T>::allocAllObjects"
Independently of how pointers are asigned, memory will be free by destroying objects for each non-NULL entry in the matrix. In some special situations, the user can indicate not to free those objects by calling "CMatrixTemplateObjects<T>::setDestroyBehavior", then it is up to the user to free the memory. In all cases the default behavior is to free the memory.
Asignament operator with matrixes will COPY THE POINTERS, thus a copy of objects is not performed.
WARNING: Objects are not deleted while shrinking the matrix by calling "setSize", thus please call ""CMatrixTemplateObjects<T>::freeAllObjects" or manually delete objects before shrinking.

See also:: CMatrixTemplate

#include <mrpt/math/CMatrixTemplateObjects.h>

Inheritance diagram for mrpt::math::CMatrixTemplateObjects:

[legend]

List of all members.

Public Types

typedef T value_type

The type of the matrix elements.

typedef T & reference

typedef const T & const_reference

typedef std::size_t size_type

typedef std::ptrdiff_t difference_type

Public Member Functions

CMatrixTemplateObjects (const CMatrixTemplate< T > &m)

Copy constructor.

CMatrixTemplateObjects (size_t row=3, size_t col=3)

Constructor.

virtual void setSize (size_t row, size_t col)

Changes the size of matrix.

virtual ~CMatrixTemplateObjects ()

Destructor.

void freeAllObjects ()

Delete all the objects in the matrix and set all entries to NULL pointers.

CMatrixTemplateObjects & operator= (const CMatrixTemplateObjects &m)

Assignment operator.

void setDestroyBehavior (bool freeObjects=true)

Sets the behavior on matrix destroy.

void allocAllObjects ()

Alloc memory for all the non-NULL entries in the matrix.

void ASSERT_ENOUGHROOM (size_t r, size_t c) const

Checks whether the rows [r-N,r+N] and the columns [c-N,c+N] are present in the matrix.

void fillAll (const T &val)

void swap (CMatrixTemplate< T > &o)

Swap with another matrix very efficiently (just swaps a pointer and two integer values).

size_t getRowCount () const

Number of rows in the matrix.

size_t getColCount () const

Number of columns in the matrix.

CMatrixTemplateSize size () const

Get a 2-vector with [NROWS NCOLS] (as in MATLAB command size(x))

void setSize (size_t row, size_t col, bool zeroNewElements=false)

Changes the size of matrix, maintaining the previous contents.

void resize (const CMatrixTemplateSize &siz, bool zeroNewElements=false)

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

T & operator() (size_t row, size_t col)

Subscript operator to get/set individual elements.

const T & operator() (size_t row, size_t col) const

Subscript operator to get individual elements.

T & operator() (size_t ith)

Subscript operator to get/set an individual element from a row or column matrix.

T operator() (size_t ith) const

Subscript operator to get/set an individual element from a row or column matrix.

CMatrixTemplate< T > operator() (const size_t row1, const size_t row2, const size_t col1, const size_t col2) const

Subscript operator to get a submatrix.

void set_unsafe (size_t row, size_t col, const T &v)

Fast but unsafe method to write a value in the matrix.

const T & get_unsafe (size_t row, size_t col) const

Fast but unsafe method to read a value from the matrix.

T & get_unsafe (size_t row, size_t col)

Fast but unsafe method to get a reference from the matrix.

T * get_unsafe_row (size_t row)

Fast but unsafe method to obtain a pointer to a given row of the matrix (Use only in time critical applications)

const T * get_unsafe_row (size_t row) const

Fast but unsafe method to obtain a pointer to a given row of the matrix (Use only in critical applications)

void extractSubmatrix (const size_t row1, const size_t row2, const size_t col1, const size_t col2, CMatrixTemplate< T > &out) const

Get a submatrix, given its bounds.

void extractSubmatrix (const size_t row1, const size_t row2, const size_t col1, const size_t col2, Eigen::MatrixBase< Derived > &out) const

void extractRows (size_t firstRow, size_t lastRow, CMatrixTemplate< T > &out) const

Gets a series of contiguous rows.

void extractColumns (size_t firstCol, size_t lastCol, CMatrixTemplate< T > &out) const

Gets a series of contiguous columns.

void extractCol (size_t nCol, std::vector< T > &out, int startingRow=0) const

Returns a given column to a vector (without modifying the matrix)

Exceptions:

std::exception On index out of bounds.

void extractCol (size_t nCol, CMatrixTemplate< T > &out, int startingRow=0) const

Gets a given column to a vector (without modifying the matrix)

Exceptions:

std::exception On index out of bounds.

void appendRow (const std::vector< T > &in)

Appends a new row to the MxN matrix from a 1xN vector.

void appendCol (const std::vector< T > &in)

Appends a new column to the matrix from a vector.

void insertCol (size_t nCol, const std::vector< T > &in)

Inserts a column from a vector, replacing the current contents of that column.

void getAsVector (std::vector< T > &out) const

Returns a vector containing the matrix's values.

Protected Member Functions

void realloc (size_t row, size_t col, bool newElementsToZero=false)

Internal use only: It reallocs the memory for the 2D matrix, maintaining the previous contents if posible.

Protected Attributes

T ** m_Val

size_t m_Rows

size_t m_Cols

Private Attributes

bool m_freeObjects

Member Typedef Documentation

typedef const T& mrpt::math::CMatrixTemplate::const_reference [inherited]

Definition at line 66 of file CMatrixTemplate.h.

typedef std::ptrdiff_t mrpt::math::CMatrixTemplate::difference_type [inherited]

Definition at line 68 of file CMatrixTemplate.h.

typedef T& mrpt::math::CMatrixTemplate::reference [inherited]

Definition at line 65 of file CMatrixTemplate.h.

typedef std::size_t mrpt::math::CMatrixTemplate::size_type [inherited]

Definition at line 67 of file CMatrixTemplate.h.

typedef T mrpt::math::CMatrixTemplate::value_type [inherited]

The type of the matrix elements.

Definition at line 64 of file CMatrixTemplate.h.

Constructor & Destructor Documentation

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

Copy constructor.

Definition at line 59 of file CMatrixTemplateObjects.h.

mrpt::math::CMatrixTemplateObjects::CMatrixTemplateObjects	(	size_t	row = `3`,
		size_t	col = `3`
	)		`[inline]`

Constructor.

Definition at line 65 of file CMatrixTemplateObjects.h.

References getRowCount(), and getColCount().

virtual mrpt::math::CMatrixTemplateObjects::~CMatrixTemplateObjects ( ) [inline, virtual]

Destructor.

Definition at line 82 of file CMatrixTemplateObjects.h.

References m_freeObjects, and freeAllObjects().

Member Function Documentation

void mrpt::math::CMatrixTemplateObjects::allocAllObjects ( ) [inline]

Alloc memory for all the non-NULL entries in the matrix.

See the general description of the class on the top.

Definition at line 124 of file CMatrixTemplateObjects.h.

References getRowCount(), and getColCount().

void mrpt::math::CMatrixTemplate::appendCol ( const std::vector< T > & in ) [inline, inherited]

Appends a new column to the matrix from a vector.

The length of the vector must match the number of rows of the matrix, unless it is (0,0).

Exceptions:

std::exception On size mismatch.

See also:: extractCol; appendRow

Definition at line 538 of file CMatrixTemplate.h.

void mrpt::math::CMatrixTemplate::appendRow ( const std::vector< T > & in ) [inline, inherited]

Appends a new row to the MxN matrix from a 1xN vector.

The lenght of the vector must match the width of the matrix, unless it's empty: in that case the matrix is resized to 1xN.

    CMatrixDouble  M(0,0);
    vector_double  v(7),w(7);
    // ...
    M.appendRow(v);
    M.appendRow(w);

Exceptions:

std::exception On incorrect vector length.

See also:: extractRow; appendCol

Definition at line 509 of file CMatrixTemplate.h.

void mrpt::math::CMatrixTemplate::ASSERT_ENOUGHROOM	(	size_t	r,
		size_t	c
	)		const `[inline, inherited]`

Checks whether the rows [r-N,r+N] and the columns [c-N,c+N] are present in the matrix.

Definition at line 127 of file CMatrixTemplate.h.

void mrpt::math::CMatrixTemplate::extractCol	(	size_t	nCol,
		std::vector< T > &	out,
		int	startingRow = `0`
	)		const `[inline, inherited]`

Returns a given column to a vector (without modifying the matrix)

Exceptions:

std::exception On index out of bounds.

Definition at line 463 of file CMatrixTemplate.h.

void mrpt::math::CMatrixTemplate::extractCol	(	size_t	nCol,
		CMatrixTemplate< T > &	out,
		int	startingRow = `0`
	)		const `[inline, inherited]`

Gets a given column to a vector (without modifying the matrix)

Exceptions:

std::exception On index out of bounds.

Definition at line 481 of file CMatrixTemplate.h.

void mrpt::math::CMatrixTemplate::extractColumns	(	size_t	firstCol,
		size_t	lastCol,
		CMatrixTemplate< T > &	out
	)		const `[inline, inherited]`

Gets a series of contiguous columns.

Exceptions:

std::logic_error On index out of bounds

See also:: extractColumn; extractRows

Definition at line 455 of file CMatrixTemplate.h.

void mrpt::math::CMatrixTemplate::extractRows	(	size_t	firstRow,
		size_t	lastRow,
		CMatrixTemplate< T > &	out
	)		const `[inline, inherited]`

Gets a series of contiguous rows.

Exceptions:

std::logic_error On index out of bounds

See also:: extractRow; extractColumns

Definition at line 445 of file CMatrixTemplate.h.

void mrpt::math::CMatrixTemplate::extractSubmatrix	(	const size_t	row1,
		const size_t	row2,
		const size_t	col1,
		const size_t	col2,
		CMatrixTemplate< T > &	out
	)		const `[inline, inherited]`

Get a submatrix, given its bounds.

See also:: extractSubmatrixSymmetricalBlocks

Definition at line 412 of file CMatrixTemplate.h.

void mrpt::math::CMatrixTemplate::extractSubmatrix	(	const size_t	row1,
		const size_t	row2,
		const size_t	col1,
		const size_t	col2,
		Eigen::MatrixBase< Derived > &	out
	)		const `[inline, inherited]`

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 426 of file CMatrixTemplate.h.

void mrpt::math::CMatrixTemplate::fillAll ( const T & val ) [inline, inherited]

Fill all the elements with a given value (Note: named "fillAll" since "fill" will be used by child classes)

Definition at line 133 of file CMatrixTemplate.h.

void mrpt::math::CMatrixTemplateObjects::freeAllObjects ( ) [inline]

Delete all the objects in the matrix and set all entries to NULL pointers.

Definition at line 90 of file CMatrixTemplateObjects.h.

References getRowCount(), and getColCount().

Referenced by ~CMatrixTemplateObjects().

const T& mrpt::math::CMatrixTemplate::get_unsafe	(	size_t	row,
		size_t	col
	)		const `[inline, inherited]`

Fast but unsafe method to read a value from the matrix.

Definition at line 364 of file CMatrixTemplate.h.

T& mrpt::math::CMatrixTemplate::get_unsafe	(	size_t	row,
		size_t	col
	)		`[inline, inherited]`

Fast but unsafe method to get a reference from the matrix.

Definition at line 375 of file CMatrixTemplate.h.

T* mrpt::math::CMatrixTemplate::get_unsafe_row ( size_t row ) [inline, inherited]

Fast but unsafe method to obtain a pointer to a given row of the matrix (Use only in time critical applications)

Definition at line 386 of file CMatrixTemplate.h.

const T* mrpt::math::CMatrixTemplate::get_unsafe_row ( size_t row ) const [inline, inherited]

Fast but unsafe method to obtain a pointer to a given row of the matrix (Use only in critical applications)

Definition at line 397 of file CMatrixTemplate.h.

void mrpt::math::CMatrixTemplate::getAsVector ( std::vector< T > & out ) const [inline, inherited]

Returns a vector containing the matrix's values.

Definition at line 566 of file CMatrixTemplate.h.

size_t mrpt::math::CMatrixTemplate::getColCount ( ) const [inline, inherited]

Number of columns in the matrix.

See also:: getRowCount, getColCount, nr, nc

Definition at line 250 of file CMatrixTemplate.h.

size_t mrpt::math::CMatrixTemplate::getRowCount ( ) const [inline, inherited]

Number of rows in the matrix.

See also:: getRowCount, getColCount, nr, nc

Definition at line 245 of file CMatrixTemplate.h.

void mrpt::math::CMatrixTemplate::insertCol	(	size_t	nCol,
		const std::vector< T > &	in
	)		`[inline, inherited]`

Inserts a column from a vector, replacing the current contents of that column.

Exceptions:

std::exception On index out of bounds

See also:: extractCol

Definition at line 553 of file CMatrixTemplate.h.

T& mrpt::math::CMatrixTemplate::operator()	(	size_t	row,
		size_t	col
	)		`[inline, inherited]`

Subscript operator to get/set individual elements.

Definition at line 275 of file CMatrixTemplate.h.

const T& mrpt::math::CMatrixTemplate::operator()	(	size_t	row,
		size_t	col
	)		const `[inline, inherited]`

Subscript operator to get individual elements.

Definition at line 286 of file CMatrixTemplate.h.

T& mrpt::math::CMatrixTemplate::operator() ( size_t ith ) [inline, inherited]

Subscript operator to get/set an individual element from a row or column matrix.

Exceptions:

std::exception If the object is not a column or row matrix.

Definition at line 298 of file CMatrixTemplate.h.

T mrpt::math::CMatrixTemplate::operator() ( size_t ith ) const [inline, inherited]

Subscript operator to get/set an individual element from a row or column matrix.

Exceptions:

std::exception If the object is not a column or row matrix.

Definition at line 326 of file CMatrixTemplate.h.

CMatrixTemplate<T> mrpt::math::CMatrixTemplate::operator()	(	const size_t	row1,
		const size_t	row2,
		const size_t	col1,
		const size_t	col2
	)		const `[inline, inherited]`

Subscript operator to get a submatrix.

Definition at line 403 of file CMatrixTemplate.h.

CMatrixTemplateObjects& mrpt::math::CMatrixTemplateObjects::operator= ( const CMatrixTemplateObjects & m ) [inline]

Assignment operator.

Definition at line 103 of file CMatrixTemplateObjects.h.

References mrpt::math::CMatrixTemplate< T * >::realloc(), getRowCount(), and getColCount().

void mrpt::math::CMatrixTemplate::realloc	(	size_t	row,
		size_t	col,
		bool	newElementsToZero = `false`
	)		`[inline, protected, inherited]`

Internal use only: It reallocs the memory for the 2D matrix, maintaining the previous contents if posible.

Definition at line 77 of file CMatrixTemplate.h.

Referenced by setSize(), and operator=().

void mrpt::math::CMatrixTemplate::resize	(	const CMatrixTemplateSize &	siz,
		bool	zeroNewElements = `false`
	)		`[inline, inherited]`

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

Definition at line 268 of file CMatrixTemplate.h.

void mrpt::math::CMatrixTemplate::set_unsafe	(	size_t	row,
		size_t	col,
		const T &	v
	)		`[inline, inherited]`

Fast but unsafe method to write a value in the matrix.

Definition at line 353 of file CMatrixTemplate.h.

void mrpt::math::CMatrixTemplateObjects::setDestroyBehavior ( bool freeObjects = true ) [inline]

Sets the behavior on matrix destroy.

See the general description of the class on the top.

Definition at line 116 of file CMatrixTemplateObjects.h.

References m_freeObjects.

virtual void mrpt::math::CMatrixTemplateObjects::setSize	(	size_t	row,
		size_t	col
	)		`[inline, virtual]`

Changes the size of matrix.

Definition at line 74 of file CMatrixTemplateObjects.h.

References mrpt::math::CMatrixTemplate< T * >::realloc().

void mrpt::math::CMatrixTemplate::setSize	(	size_t	row,
		size_t	col,
		bool	zeroNewElements = `false`
	)		`[inline, inherited]`

Changes the size of matrix, maintaining the previous contents.

Definition at line 262 of file CMatrixTemplate.h.

CMatrixTemplateSize mrpt::math::CMatrixTemplate::size ( ) const [inline, inherited]

Get a 2-vector with [NROWS NCOLS] (as in MATLAB command size(x))

Definition at line 253 of file CMatrixTemplate.h.

void mrpt::math::CMatrixTemplate::swap ( CMatrixTemplate< T > & o ) [inline, inherited]

Swap with another matrix very efficiently (just swaps a pointer and two integer values).

Definition at line 140 of file CMatrixTemplate.h.

Member Data Documentation

size_t mrpt::math::CMatrixTemplate::m_Cols [protected, inherited]

Definition at line 73 of file CMatrixTemplate.h.

bool mrpt::math::CMatrixTemplateObjects::m_freeObjects [private]

Definition at line 54 of file CMatrixTemplateObjects.h.

Referenced by ~CMatrixTemplateObjects(), and setDestroyBehavior().

size_t mrpt::math::CMatrixTemplate::m_Rows [protected, inherited]

Definition at line 73 of file CMatrixTemplate.h.

T** mrpt::math::CMatrixTemplate::m_Val [protected, inherited]

Definition at line 72 of file CMatrixTemplate.h.