Detailed Description

This template class provides the basic functionality for a general 2D any-size, resizable container of numerical or non-numerical elements.

NOTES:

This class is not serializable since it is a template. For using serialization, see mrpt::math::CMatrixNumeric
First row or column index is "0".
This class includes range checks with ASSERT_() if compiling with "_DEBUG" or "MRPT_ALWAYS_CHECKS_DEBUG_MATRICES=1".
Please DO NOT use as template class type any other class. It can be safely used the following types:
- Elemental types (int,char,float,doble,...)
- Data struct (Not classes!)
- Any kind of pointers (user is responsible for allocating and freeing the memory addressed by pointers).

Note:: Memory blocks for each row are 16-bytes aligned (since MRPT 0.7.0).; 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

See also:: CMatrixTemplateNumeric

#include <mrpt/math/CMatrixTemplate.h>

Inheritance diagram for mrpt::math::CMatrixTemplate:

[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

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).

CMatrixTemplate (const CMatrixTemplate &m)

Constructors.

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

CMatrixTemplate (const CMatrixTemplate &m, const size_t cropRowCount, const size_t cropColCount)

Copy constructor & crop from another matrix.

template<typename V , size_t N>

CMatrixTemplate (size_t row, size_t col, V(&theArray)[N])

Constructor from a given size and a C array.

template<typename V >

CMatrixTemplate (size_t row, size_t col, const V &theVector)

Constructor from a given size and a STL container (std::vector, std::list,...) with the initial values.

virtual ~CMatrixTemplate ()

Destructor.

CMatrixTemplate & operator= (const CMatrixTemplate &m)

Assignment operator from another matrix.

template<typename V , size_t N>

CMatrixTemplate & 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)

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.

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)

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 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.

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

Member Typedef Documentation

typedef const T& mrpt::math::CMatrixTemplate::const_reference

Definition at line 66 of file CMatrixTemplate.h.

typedef std::ptrdiff_t mrpt::math::CMatrixTemplate::difference_type

Definition at line 68 of file CMatrixTemplate.h.

typedef T& mrpt::math::CMatrixTemplate::reference

Definition at line 65 of file CMatrixTemplate.h.

typedef std::size_t mrpt::math::CMatrixTemplate::size_type

Definition at line 67 of file CMatrixTemplate.h.

typedef T mrpt::math::CMatrixTemplate::value_type

The type of the matrix elements.

Definition at line 64 of file CMatrixTemplate.h.

Constructor & Destructor Documentation

mrpt::math::CMatrixTemplate::CMatrixTemplate ( const CMatrixTemplate & m ) [inline]

Constructors.

Definition at line 148 of file CMatrixTemplate.h.

mrpt::math::CMatrixTemplate::CMatrixTemplate	(	size_t	row = `1`,
		size_t	col = `1`
	)		`[inline]`

Definition at line 153 of file CMatrixTemplate.h.

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

Copy constructor & crop from another matrix.

Definition at line 160 of file CMatrixTemplate.h.

template<typename V , size_t N>

mrpt::math::CMatrixTemplate::CMatrixTemplate	(	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 179 of file CMatrixTemplate.h.

template<typename V >

mrpt::math::CMatrixTemplate::CMatrixTemplate	(	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 193 of file CMatrixTemplate.h.

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

Destructor.

Definition at line 205 of file CMatrixTemplate.h.

Member Function Documentation

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

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]

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]`

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]`

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]`

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]`

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]`

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]`

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]`

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]

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]`

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]`

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]

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]

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]

Returns a vector containing the matrix's values.

Definition at line 566 of file CMatrixTemplate.h.

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

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]

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().

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

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]`

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]`

Subscript operator to get individual elements.

Definition at line 286 of file CMatrixTemplate.h.

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

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]

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]`

Subscript operator to get a submatrix.

Definition at line 403 of file CMatrixTemplate.h.

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

Assignment operator from another matrix.

Reimplemented in mrpt::math::CMatrixB.

Definition at line 208 of file CMatrixTemplate.h.

Referenced by mrpt::math::CMatrixB::operator=().

template<typename V , size_t N>

CMatrixTemplate& mrpt::math::CMatrixTemplate::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

Definition at line 228 of file CMatrixTemplate.h.

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

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]`

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]`

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]`

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]

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]

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().

Member Data Documentation

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

Definition at line 73 of file CMatrixTemplate.h.

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

Definition at line 73 of file CMatrixTemplate.h.

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

Definition at line 72 of file CMatrixTemplate.h.