Detailed Description

This class is a "CSerializable" wrapper for "CMatrixBool".

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

#include <mrpt/math/CMatrixB.h>

Inheritance diagram for mrpt::math::CMatrixB:

[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

CMatrixB (size_t row=1, size_t col=1)

Constructor.

CMatrixB (const CMatrixBool &m)

Copy constructor.

CMatrixB & operator= (const CMatrixBool &m)

Assignment operator for float matrixes.

mrpt::utils::CObjectPtr duplicateGetSmartPtr () const

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

CObject * clone () const

Cloning interface for smart pointers.

template<size_t N>

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.

template<class Derived >

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.

Static Public Attributes

static const
mrpt::utils::TRuntimeClassId classCObject

Protected Member Functions

virtual void writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0

Introduces a pure virtual method responsible for writing to a CStream.

virtual void readFromStream (mrpt::utils::CStream &in, int version)=0

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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

RTTI stuff

typedef CMatrixBPtr SmartPtr

static mrpt::utils::CLASSINIT _init_CMatrixB

static mrpt::utils::TRuntimeClassId classCMatrixB

static const
mrpt::utils::TRuntimeClassId * classinfo

static const
mrpt::utils::TRuntimeClassId * _GetBaseClass ()

virtual const
mrpt::utils::TRuntimeClassId * GetRuntimeClass () const

Returns information about the class of an object in runtime.

virtual mrpt::utils::CObject * duplicate () const

Returns a copy of the object, indepently of its class.

static mrpt::utils::CObject * CreateObject ()

static CMatrixBPtr Create ()

RTTI stuff

static const
mrpt::utils::TRuntimeClassId classCSerializable

class mrpt::utils::CStream

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 CMatrixBPtr mrpt::math::CMatrixB::SmartPtr

A typedef for the associated smart pointer

Definition at line 50 of file CMatrixB.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::CMatrixB::CMatrixB	(	size_t	row = `1`,
		size_t	col = `1`
	)		`[inline]`

Constructor.

Definition at line 54 of file CMatrixB.h.

mrpt::math::CMatrixB::CMatrixB ( const CMatrixBool & m ) [inline]

Copy constructor.

Definition at line 60 of file CMatrixB.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::math::CMatrixB::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

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.

template<size_t N>

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.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

static CMatrixBPtr mrpt::math::CMatrixB::Create ( ) [static]

static mrpt::utils::CObject* mrpt::math::CMatrixB::CreateObject ( ) [static]

virtual mrpt::utils::CObject* mrpt::math::CMatrixB::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.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.

Referenced by mrpt::math::CMatrixTemplate< TPoint3D >::operator()().

template<class Derived >

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.

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.

Referenced by mrpt::math::CMatrixTemplate< TPoint3D >::ASSERT_ENOUGHROOM().

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.

Referenced by mrpt::math::CMatrixTemplate< TPoint3D >::ASSERT_ENOUGHROOM().

virtual const mrpt::utils::TRuntimeClassId* mrpt::math::CMatrixB::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

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.

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

Assignment operator for float matrixes.

Reimplemented from mrpt::math::CMatrixTemplate.

Definition at line 66 of file CMatrixB.h.

References mrpt::math::CMatrixTemplate::operator=().

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters:

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

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 mrpt::math::CMatrixTemplate< TPoint3D >::CMatrixTemplate(), mrpt::math::CMatrixTemplate< TPoint3D >::~CMatrixTemplate(), mrpt::math::CMatrixTemplate< TPoint3D >::operator=(), mrpt::math::CMatrixTemplate< TPoint3D >::setSize(), mrpt::math::CMatrixTemplate< TPoint3D >::appendRow(), and mrpt::math::CMatrixTemplate< TPoint3D >::appendCol().

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::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.

Referenced by mrpt::math::CMatrixTemplate< TPoint3D >::resize(), and mrpt::poses::CPose2DGridTemplate< double >::getAsMatrix().

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.

Referenced by mrpt::math::CMatrixTemplate< TPoint3D >::swap().

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters:

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions:

std::exception On any error, see CStream::WriteBuffer