Detailed Description

Collaboration diagram for Vector and matrices mathematical operations and other utilities:

Namespaces
namespace	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.

Files
file	ops_containers.h
	This file implements several operations that operate element-wise on individual or pairs of containers.

Functions
template<class Derived >
const Eigen::MatrixBase < Derived >::AdjointReturnType	mrpt::math::operator~ (const Eigen::MatrixBase< Derived > &m)
	Transpose operator for matrices.

template<class Derived >
Eigen::MatrixBase< Derived > ::PlainObject	mrpt::math::operator! (const Eigen::MatrixBase< Derived > &m)
	Unary inversion operator.

template<class T >
std::ostream &	mrpt::math::operator<< (std::ostream &out, const std::vector< T > &d)
	A template function for printing out the contents of a std::vector variable.

template<class T >
std::ostream &	mrpt::math::operator<< (std::ostream &out, std::vector< T > *d)
	A template function for printing out the contents of a std::vector variable.

template<typename T , size_t N>
mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &ostrm, const CArrayNumeric< T, N > &a)
	Binary dump of a CArrayNumeric<T,N> to a stream.

template<typename T , size_t N>
mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &istrm, CArrayNumeric< T, N > &a)
	Binary read of a CArrayNumeric<T,N> from a stream.

bool BASE_IMPEXP	mrpt::math::loadVector (utils::CFileStream &f, std::vector< int > &d)
	Loads one row of a text file as a numerical std::vector.

bool BASE_IMPEXP	mrpt::math::loadVector (utils::CFileStream &f, std::vector< double > &d)
	Loads one row of a text file as a numerical std::vector.

bool BASE_IMPEXP	mrpt::math::isNaN (float f) MRPT_NO_THROWS
	Returns true if the number is NaN.

bool BASE_IMPEXP	mrpt::math::isNaN (double f) MRPT_NO_THROWS
	Returns true if the number is NaN.

bool BASE_IMPEXP	mrpt::math::isFinite (float f) MRPT_NO_THROWS
	Returns true if the number is non infinity.

bool BASE_IMPEXP	mrpt::math::isFinite (double f) MRPT_NO_THROWS
	Returns true if the number is non infinity.

void BASE_IMPEXP	mrpt::math::medianFilter (const std::vector< double > &inV, std::vector< double > &outV, const int &winSize, const int &numberOfSigmas=2)

template<typename T , typename VECTOR >
void	mrpt::math::linspace (T first, T last, size_t count, VECTOR &out_vector)
	Generates an equidistant sequence of numbers given the first one, the last one and the desired number of points.

template<class T >
Eigen::Matrix< T, Eigen::Dynamic, 1 >	mrpt::math::linspace (T first, T last, size_t count)
	Generates an equidistant sequence of numbers given the first one, the last one and the desired number of points.

template<class T , T STEP>
Eigen::Matrix< T, Eigen::Dynamic, 1 >	mrpt::math::sequence (T first, size_t length)
	Generates a sequence of values [first,first+STEP,first+2*STEP,...].

template<class T , T STEP>
std::vector< T >	mrpt::math::sequenceStdVec (T first, size_t length)
	Generates a sequence of values [first,first+STEP,first+2*STEP,...].

template<class T >
Eigen::Matrix< T, Eigen::Dynamic, 1 >	mrpt::math::ones (size_t count)
	Generates a vector of all ones of the given length.

template<class T >
Eigen::Matrix< T, Eigen::Dynamic, 1 >	mrpt::math::zeros (size_t count)
	Generates a vector of all zeros of the given length.

template<class T >
void	mrpt::math::wrapTo2PiInPlace (T &a)
	Modifies the given angle to translate it into the [0,2pi[ range.

template<class T >
T	mrpt::math::wrapTo2Pi (T a)
	Modifies the given angle to translate it into the [0,2pi[ range.

template<class T >
T	mrpt::math::wrapToPi (T a)
	Modifies the given angle to translate it into the ]-pi,pi] range.

template<class T >
void	mrpt::math::wrapToPiInPlace (T &a)
	Modifies the given angle to translate it into the ]-pi,pi] range.

template<class VEC1 , class VEC2 >
void	mrpt::math::normalize (const VEC1 &v, VEC2 &out_v)
	Normalize a vector, such as its norm is the unity.

template<class VECTORLIKE1 , class VECTORLIKE2 >
void	mrpt::math::weightedHistogram (const VECTORLIKE1 &values, const VECTORLIKE1 &weights, float binWidth, VECTORLIKE2 &out_binCenters, VECTORLIKE2 &out_binValues)
	Computes the weighted histogram for a vector of values and their corresponding weights.

template<class VECTORLIKE1 , class VECTORLIKE2 >
void	mrpt::math::weightedHistogramLog (const VECTORLIKE1 &values, const VECTORLIKE1 &log_weights, float binWidth, VECTORLIKE2 &out_binCenters, VECTORLIKE2 &out_binValues)
	Computes the weighted histogram for a vector of values and their corresponding log-weights.

template<class VECTOR_OF_VECTORS , class VECTORLIKE >
void	mrpt::math::extractColumnFromVectorOfVectors (const size_t colIndex, const VECTOR_OF_VECTORS &data, VECTORLIKE &out_column)
	Extract a column from a vector of vectors, and store it in another vector.

uint64_t BASE_IMPEXP	mrpt::math::factorial64 (unsigned int n)
	Computes the factorial of an integer number and returns it as a 64-bit integer number.

double BASE_IMPEXP	mrpt::math::factorial (unsigned int n)
	Computes the factorial of an integer number and returns it as a double value (internally it uses logarithms for avoiding overflow).

template<class T >
T	mrpt::math::round2up (T val)
	Round up to the nearest power of two of a given number.

template<class T >
T	mrpt::math::round_10power (T val, int power10)
	Round a decimal number up to the given 10'th power (eg, to 1000,100,10, and also fractions) power10 means round up to: 1 -> 10, 2 -> 100, 3 -> 1000, ...

template<class T >
double	mrpt::math::correlate_matrix (const CMatrixTemplateNumeric< T > &a1, const CMatrixTemplateNumeric< T > &a2)
	Calculate the correlation between two matrices (by AJOGD @ JAN-2007)

template<class MATRIXLIKE1 , class MATRIXLIKE2 >
void	mrpt::math::homogeneousMatrixInverse (const MATRIXLIKE1 &M, MATRIXLIKE2 &out_inverse_M)
	Efficiently compute the inverse of a 4x4 homogeneous matrix by only transposing the rotation 3x3 part and solving the translation with dot products.

template<class IN_ROTMATRIX , class IN_XYZ , class OUT_ROTMATRIX , class OUT_XYZ >
void	mrpt::math::homogeneousMatrixInverse (const IN_ROTMATRIX &in_R, const IN_XYZ &in_xyz, OUT_ROTMATRIX &out_R, OUT_XYZ &out_xyz)

template<class MATRIXLIKE >
void	mrpt::math::homogeneousMatrixInverse (MATRIXLIKE &M)

template<class VECTORLIKE , class VECTORLIKE2 , class VECTORLIKE3 , class MATRIXLIKE , class USERPARAM >
void	mrpt::math::estimateJacobian (const VECTORLIKE &x, void(*functor)(const VECTORLIKE &x, const USERPARAM &y, VECTORLIKE3 &out), const VECTORLIKE2 &increments, const USERPARAM &userParam, MATRIXLIKE &out_Jacobian)
	Estimate the Jacobian of a multi-dimensional function around a point "x", using finite differences of a given size in each input dimension.

template<typename T , typename At , size_t N>
std::vector< T > &	mrpt::math::loadVector (std::vector< T > &v, At(&theArray)[N])
	Assignment operator for initializing a std::vector from a C array (The vector will be automatically set to the correct size).

template<typename Derived , typename At , size_t N>
Eigen::EigenBase< Derived > &	mrpt::math::loadVector (Eigen::EigenBase< Derived > &v, At(&theArray)[N])

void	mrpt::math::unwrap2PiSequence (vector_double &x)
	Modify a sequence of angle values such as no consecutive values have a jump larger than PI in absolute value.

template<size_t N, typename T >
std::vector< T >	mrpt::math::make_vector (const T val1,...)
	A versatile template to build vectors on-the-fly in a style close to MATLAB's v=[a b c d ...] The first argument of the template is the vector length, and the second the type of the numbers.

Operators for binary streaming of MRPT matrices
template<size_t NROWS, size_t NCOLS>
mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, CMatrixFixedNumeric< float, NROWS, NCOLS > &M)
	Read operator from a CStream.

template<size_t NROWS, size_t NCOLS>
mrpt::utils::CStream &	mrpt::math::operator>> (mrpt::utils::CStream &in, CMatrixFixedNumeric< double, NROWS, NCOLS > &M)
	Read operator from a CStream.

template<size_t NROWS, size_t NCOLS>
mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const CMatrixFixedNumeric< float, NROWS, NCOLS > &M)
	Write operator for writing into a CStream.

template<size_t NROWS, size_t NCOLS>
mrpt::utils::CStream &	mrpt::math::operator<< (mrpt::utils::CStream &out, const CMatrixFixedNumeric< double, NROWS, NCOLS > &M)
	Write operator for writing into a CStream.

Operators for text streaming of MRPT matrices
template<typename T , size_t NROWS, size_t NCOLS>
std::ostream &	mrpt::math::operator<< (std::ostream &s, const CMatrixFixedNumeric< T, NROWS, NCOLS > &m)
	Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output.

template<typename T >
std::ostream &	mrpt::math::operator<< (std::ostream &s, const CMatrixTemplateNumeric< T > &m)
	Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output.

template<typename T >
std::ostream &	mrpt::math::operator<< (std::ostream &s, const mrpt::dynamicsize_vector< T > &m)
	Dumps the vector as a row to a text ostream, with the format: "[v1 v2 v3... vN]".

Generic std::vector element-wise operations
template<typename T1 , typename T2 >
std::vector< T1 > &	mrpt::math::operator*= (std::vector< T1 > &a, const std::vector< T2 > &b)
	a*=b (element-wise multiplication)

template<typename T1 >
std::vector< T1 > &	mrpt::math::operator*= (std::vector< T1 > &a, const T1 b)
	a*=k (multiplication by a constant)

template<typename T1 , typename T2 >
std::vector< T1 >	mrpt::math::operator* (const std::vector< T1 > &a, const std::vector< T2 > &b)
	a*b (element-wise multiplication)

template<typename T1 , typename T2 >
std::vector< T1 > &	mrpt::math::operator+= (std::vector< T1 > &a, const std::vector< T2 > &b)
	a+=b (element-wise sum)

template<typename T1 >
std::vector< T1 > &	mrpt::math::operator+= (std::vector< T1 > &a, const T1 b)
	a+=b (sum a constant)

template<typename T1 , typename T2 >
std::vector< T1 >	mrpt::math::operator+ (const std::vector< T1 > &a, const std::vector< T2 > &b)
	a+b (element-wise sum)

template<typename T1 , typename T2 >
std::vector< T1 >	mrpt::math::operator- (const std::vector< T1 > &v1, const std::vector< T2 > &v2)

Function Documentation

template<class T >

double mrpt::math::correlate_matrix	(	const CMatrixTemplateNumeric< T > &	a1,
		const CMatrixTemplateNumeric< T > &	a2
	)

Calculate the correlation between two matrices (by AJOGD @ JAN-2007)

Definition at line 505 of file base/include/mrpt/math/utils.h.

References THROW_EXCEPTION.

template<class VECTORLIKE , class VECTORLIKE2 , class VECTORLIKE3 , class MATRIXLIKE , class USERPARAM >

void mrpt::math::estimateJacobian	(	const VECTORLIKE &	x,
		void(*)(const VECTORLIKE &x, const USERPARAM &y, VECTORLIKE3 &out)	functor,
		const VECTORLIKE2 &	increments,
		const USERPARAM &	userParam,
		MATRIXLIKE &	out_Jacobian
	)

Estimate the Jacobian of a multi-dimensional function around a point "x", using finite differences of a given size in each input dimension.

The template argument USERPARAM is for the data can be passed to the functor. If it is not required, set to "int" or any other basic type.

This is a generic template which works with: VECTORLIKE: vector_float, vector_double, CArrayNumeric<>, double [N], ... MATRIXLIKE: CMatrixTemplateNumeric, CMatrixFixedNumeric

Definition at line 711 of file base/include/mrpt/math/utils.h.

References ASSERT_, MRPT_END, and MRPT_START.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::math::jacobians::jacob_numeric_estimate(), and mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().

template<class VECTOR_OF_VECTORS , class VECTORLIKE >

void mrpt::math::extractColumnFromVectorOfVectors	(	const size_t	colIndex,
		const VECTOR_OF_VECTORS &	data,
		VECTORLIKE &	out_column
	)

inline

Extract a column from a vector of vectors, and store it in another vector.

Input data can be: std::vector<vector_double>, std::deque<std::list<double> >, std::list<CArrayDouble<5> >, etc. etc.
Output is the sequence: data[0][idx],data[1][idx],data[2][idx], etc..

For the sake of generality, this function does NOT check the limits in the number of column, unless it's implemented in the [] operator of each of the "rows".

Definition at line 459 of file base/include/mrpt/math/utils.h.

double BASE_IMPEXP mrpt::math::factorial ( unsigned int n )

Computes the factorial of an integer number and returns it as a double value (internally it uses logarithms for avoiding overflow).

uint64_t BASE_IMPEXP mrpt::math::factorial64 ( unsigned int n )

Computes the factorial of an integer number and returns it as a 64-bit integer number.

template<class MATRIXLIKE1 , class MATRIXLIKE2 >

void mrpt::math::homogeneousMatrixInverse	(	const MATRIXLIKE1 &	M,
		MATRIXLIKE2 &	out_inverse_M
	)

Efficiently compute the inverse of a 4x4 homogeneous matrix by only transposing the rotation 3x3 part and solving the translation with dot products.

This is a generic template which works with: MATRIXLIKE: CMatrixTemplateNumeric, CMatrixFixedNumeric

Definition at line 604 of file base/include/mrpt/math/utils.h.

References ASSERT_, MRPT_END, MRPT_START, and mrpt::math::size().

Referenced by mrpt::poses::CPoseOrPoint< CPoint3D >::getInverseHomogeneousMatrix(), and mrpt::slam::detail::project3DPointsFromDepthImageInto().

template<class IN_ROTMATRIX , class IN_XYZ , class OUT_ROTMATRIX , class OUT_XYZ >

void mrpt::math::homogeneousMatrixInverse	(	const IN_ROTMATRIX &	in_R,
		const IN_XYZ &	in_xyz,
		OUT_ROTMATRIX &	out_R,
		OUT_XYZ &	out_xyz
	)

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 656 of file base/include/mrpt/math/utils.h.

References ASSERT_, MRPT_END, MRPT_START, and mrpt::math::size().

template<class MATRIXLIKE >

void mrpt::math::homogeneousMatrixInverse ( MATRIXLIKE & M )

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 685 of file base/include/mrpt/math/utils.h.

References ASSERTDEB_, and mrpt::math::size().

bool BASE_IMPEXP mrpt::math::isFinite ( float f )

Returns true if the number is non infinity.

bool BASE_IMPEXP mrpt::math::isFinite ( double f )

Returns true if the number is non infinity.

bool BASE_IMPEXP mrpt::math::isNaN ( float f )

Returns true if the number is NaN.

bool BASE_IMPEXP mrpt::math::isNaN ( double f )

Returns true if the number is NaN.

template<typename T , typename VECTOR >

void mrpt::math::linspace	(	T	first,
		T	last,
		size_t	count,
		VECTOR &	out_vector
	)

Generates an equidistant sequence of numbers given the first one, the last one and the desired number of points.

See Also: sequence

Definition at line 94 of file base/include/mrpt/math/utils.h.

Referenced by mrpt::math::linspace().

template<class T >

Eigen::Matrix<T,Eigen::Dynamic,1> mrpt::math::linspace	(	T	first,
		T	last,
		size_t	count
	)

inline

Generates an equidistant sequence of numbers given the first one, the last one and the desired number of points.

See Also: sequence

Definition at line 114 of file base/include/mrpt/math/utils.h.

References mrpt::math::linspace().

bool BASE_IMPEXP mrpt::math::loadVector	(	utils::CFileStream &	f,
		std::vector< int > &	d
	)

Loads one row of a text file as a numerical std::vector.

Returns: false on EOF or invalid format. The body of the function is implemented in MATH.cpp

bool BASE_IMPEXP mrpt::math::loadVector	(	utils::CFileStream &	f,
		std::vector< double > &	d
	)

Loads one row of a text file as a numerical std::vector.

Returns: false on EOF or invalid format. The body of the function is implemented in MATH.cpp

template<typename T , typename At , size_t N>

std::vector<T>& mrpt::math::loadVector	(	std::vector< T > &	v,
		At(&)	theArray[N]
	)

Assignment operator for initializing a std::vector from a C array (The vector will be automatically set to the correct size).

    vector_double  v;
const double numbers[] = { 1,2,3,5,6,7,8,9,10 };
loadVector( v, numbers );

Note: This operator performs the appropiate type castings, if required.

Definition at line 766 of file base/include/mrpt/math/utils.h.

References MRPT_COMPILE_TIME_ASSERT.

template<typename Derived , typename At , size_t N>

Eigen::EigenBase<Derived>& mrpt::math::loadVector	(	Eigen::EigenBase< Derived > &	v,
		At(&)	theArray[N]
	)

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 776 of file base/include/mrpt/math/utils.h.

References MRPT_COMPILE_TIME_ASSERT.

template<size_t N, typename T >

std::vector<T> mrpt::math::make_vector	(	const T	val1,
			...
	)

A versatile template to build vectors on-the-fly in a style close to MATLAB's v=[a b c d ...] The first argument of the template is the vector length, and the second the type of the numbers.

Some examples:

vector_double = make_vector<4,double>(1.0,3.0,4.0,5.0);

vector_float = make_vector<2,float>(-8.12, 3e4);

Definition at line 800 of file base/include/mrpt/math/utils.h.

References MRPT_COMPILE_TIME_ASSERT.

void BASE_IMPEXP mrpt::math::medianFilter	(	const std::vector< double > &	inV,
		std::vector< double > &	outV,
		const int &	winSize,
		const int &	numberOfSigmas = `2`
	)

template<class VEC1 , class VEC2 >

void mrpt::math::normalize	(	const VEC1 &	v,
		VEC2 &	out_v
	)

Normalize a vector, such as its norm is the unity.

If the vector has a null norm, the output is a null vector.

Definition at line 208 of file base/include/mrpt/math/utils.h.

References mrpt::utils::square().

template<class T >

Eigen::Matrix<T,Eigen::Dynamic,1> mrpt::math::ones ( size_t count )

inline

Generates a vector of all ones of the given length.

Definition at line 144 of file base/include/mrpt/math/utils.h.

template<class Derived >

Eigen::MatrixBase<Derived>::PlainObject mrpt::math::operator! ( const Eigen::MatrixBase< Derived > & m )

inline

Unary inversion operator.

Definition at line 136 of file ops_matrices.h.

template<typename T1 , typename T2 >

std::vector<T1> mrpt::math::operator*	(	const std::vector< T1 > &	a,
		const std::vector< T2 > &	b
	)

inline

a*b (element-wise multiplication)

Definition at line 72 of file ops_vectors.h.

References ASSERT_EQUAL_.

template<typename T1 , typename T2 >

std::vector<T1>& mrpt::math::operator*=	(	std::vector< T1 > &	a,
		const std::vector< T2 > &	b
	)

inline

a*=b (element-wise multiplication)

Definition at line 53 of file ops_vectors.h.

References ASSERT_EQUAL_.

template<typename T1 >

std::vector<T1>& mrpt::math::operator*=	(	std::vector< T1 > &	a,
		const T1	b
	)

inline

a*=k (multiplication by a constant)

Definition at line 63 of file ops_vectors.h.

template<typename T1 , typename T2 >

std::vector<T1> mrpt::math::operator+	(	const std::vector< T1 > &	a,
		const std::vector< T2 > &	b
	)

inline

a+b (element-wise sum)

Definition at line 102 of file ops_vectors.h.

References ASSERT_EQUAL_.

template<typename T1 , typename T2 >

std::vector<T1>& mrpt::math::operator+=	(	std::vector< T1 > &	a,
		const std::vector< T2 > &	b
	)

inline

a+=b (element-wise sum)

Definition at line 83 of file ops_vectors.h.

References ASSERT_EQUAL_.

template<typename T1 >

std::vector<T1>& mrpt::math::operator+=	(	std::vector< T1 > &	a,
		const T1	b
	)

inline

a+=b (sum a constant)

Definition at line 93 of file ops_vectors.h.

template<typename T1 , typename T2 >

std::vector<T1> mrpt::math::operator-	(	const std::vector< T1 > &	v1,
		const std::vector< T2 > &	v2
	)

inline

Definition at line 112 of file ops_vectors.h.

References ASSERT_EQUAL_.

template<size_t NROWS, size_t NCOLS>

mrpt::utils::CStream& mrpt::math::operator<<	(	mrpt::utils::CStream &	out,
		const CMatrixFixedNumeric< float, NROWS, NCOLS > &	M
	)

Write operator for writing into a CStream.

The format is compatible with that of CMatrix & CMatrixD

Definition at line 81 of file ops_matrices.h.

template<size_t NROWS, size_t NCOLS>

mrpt::utils::CStream& mrpt::math::operator<<	(	mrpt::utils::CStream &	out,
		const CMatrixFixedNumeric< double, NROWS, NCOLS > &	M
	)

Write operator for writing into a CStream.

The format is compatible with that of CMatrix & CMatrixD

Definition at line 88 of file ops_matrices.h.

template<typename T , size_t NROWS, size_t NCOLS>

std::ostream& mrpt::math::operator<<	(	std::ostream &	s,
		const CMatrixFixedNumeric< T, NROWS, NCOLS > &	m
	)

inline

Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output.

Definition at line 103 of file ops_matrices.h.

template<typename T >

std::ostream& mrpt::math::operator<<	(	std::ostream &	s,
		const CMatrixTemplateNumeric< T > &	m
	)

inline

Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output.

Definition at line 111 of file ops_matrices.h.

template<typename T >

std::ostream& mrpt::math::operator<<	(	std::ostream &	s,
		const mrpt::dynamicsize_vector< T > &	m
	)

inline

Dumps the vector as a row to a text ostream, with the format: "[v1 v2 v3... vN]".

Definition at line 119 of file ops_matrices.h.

template<class T >

std::ostream& mrpt::math::operator<<	(	std::ostream &	out,
		const std::vector< T > &	d
	)

A template function for printing out the contents of a std::vector variable.

Definition at line 125 of file ops_vectors.h.

template<class T >

std::ostream& mrpt::math::operator<<	(	std::ostream &	out,
		std::vector< T > *	d
	)

A template function for printing out the contents of a std::vector variable.

Definition at line 140 of file ops_vectors.h.

template<typename T , size_t N>

mrpt::utils::CStream& mrpt::math::operator<<	(	mrpt::utils::CStream &	ostrm,
		const CArrayNumeric< T, N > &	a
	)

Binary dump of a CArrayNumeric<T,N> to a stream.

Definition at line 154 of file ops_vectors.h.

template<size_t NROWS, size_t NCOLS>

mrpt::utils::CStream& mrpt::math::operator>>	(	mrpt::utils::CStream &	in,
		CMatrixFixedNumeric< float, NROWS, NCOLS > &	M
	)

Read operator from a CStream.

The format is compatible with that of CMatrix & CMatrixD

Definition at line 62 of file ops_matrices.h.

References ASSERTMSG_, mrpt::format(), and mrpt::utils::CStream::ReadObject().

template<size_t NROWS, size_t NCOLS>

mrpt::utils::CStream& mrpt::math::operator>>	(	mrpt::utils::CStream &	in,
		CMatrixFixedNumeric< double, NROWS, NCOLS > &	M
	)

Read operator from a CStream.

The format is compatible with that of CMatrix & CMatrixD

Definition at line 71 of file ops_matrices.h.

References ASSERTMSG_, mrpt::format(), and mrpt::utils::CStream::ReadObject().

template<typename T , size_t N>

mrpt::utils::CStream& mrpt::math::operator>>	(	mrpt::utils::CStream &	istrm,
		CArrayNumeric< T, N > &	a
	)

Binary read of a CArrayNumeric<T,N> from a stream.

Definition at line 163 of file ops_vectors.h.

References ASSERTMSG_, mrpt::format(), and mrpt::utils::CStream::ReadBufferFixEndianness().

template<class Derived >

const Eigen::MatrixBase<Derived>::AdjointReturnType mrpt::math::operator~ ( const Eigen::MatrixBase< Derived > & m )

inline

Transpose operator for matrices.

Definition at line 130 of file ops_matrices.h.

template<class T >

T mrpt::math::round2up ( T val )

Round up to the nearest power of two of a given number.

Definition at line 478 of file base/include/mrpt/math/utils.h.

References THROW_EXCEPTION.

template<class T >

T mrpt::math::round_10power	(	T	val,
		int	power10
	)

Round a decimal number up to the given 10'th power (eg, to 1000,100,10, and also fractions) power10 means round up to: 1 -> 10, 2 -> 100, 3 -> 1000, ...

-1 -> 0.1, -2 -> 0.01, ...

Definition at line 494 of file base/include/mrpt/math/utils.h.

References mrpt::utils::round_long(), and t().

template<class T , T STEP>

Eigen::Matrix<T,Eigen::Dynamic,1> mrpt::math::sequence	(	T	first,
		size_t	length
	)

inline

Generates a sequence of values [first,first+STEP,first+2*STEP,...].

See Also: linspace, sequenceStdVec

Definition at line 123 of file base/include/mrpt/math/utils.h.

template<class T , T STEP>

std::vector<T> mrpt::math::sequenceStdVec	(	T	first,
		size_t	length
	)

inline

Generates a sequence of values [first,first+STEP,first+2*STEP,...].

See Also: linspace, sequence

Definition at line 134 of file base/include/mrpt/math/utils.h.

void mrpt::math::unwrap2PiSequence ( vector_double & x )

Modify a sequence of angle values such as no consecutive values have a jump larger than PI in absolute value.

See Also: wrapToPi

template<class VECTORLIKE1 , class VECTORLIKE2 >

void mrpt::math::weightedHistogram	(	const VECTORLIKE1 &	values,
		const VECTORLIKE1 &	weights,
		float	binWidth,
		VECTORLIKE2 &	out_binCenters,
		VECTORLIKE2 &	out_binValues
	)

Computes the weighted histogram for a vector of values and their corresponding weights.

Parameters

values	[IN] The N values
weights	[IN] The weights for the corresponding N values (don't need to be normalized)
binWidth	[IN] The desired width of the bins
out_binCenters	[OUT] The centers of the M bins generated to cover from the minimum to the maximum value of "values" with the given "binWidth"
out_binValues	[OUT] The ratio of values at each given bin, such as the whole vector sums up the unity.

See Also: weightedHistogramLog

Definition at line 351 of file base/include/mrpt/math/utils.h.

References ASSERT_, ASSERTDEB_, mrpt::math::maximum(), mrpt::math::minimum(), MRPT_END, MRPT_START, and mrpt::utils::round().

template<class VECTORLIKE1 , class VECTORLIKE2 >

void mrpt::math::weightedHistogramLog	(	const VECTORLIKE1 &	values,
		const VECTORLIKE1 &	log_weights,
		float	binWidth,
		VECTORLIKE2 &	out_binCenters,
		VECTORLIKE2 &	out_binValues
	)

Computes the weighted histogram for a vector of values and their corresponding log-weights.

Parameters

values	[IN] The N values
weights	[IN] The log-weights for the corresponding N values (don't need to be normalized)
binWidth	[IN] The desired width of the bins
out_binCenters	[OUT] The centers of the M bins generated to cover from the minimum to the maximum value of "values" with the given "binWidth"
out_binValues	[OUT] The ratio of values at each given bin, such as the whole vector sums up the unity.