Detailed Description

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

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

Definition at line 60 of file CMatrixTemplate.h.

#include <mrpt/math/CMatrixTemplate.h>

Inheritance diagram for mrpt::math::CMatrixTemplate< T >:

[legend]

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

template<class T>

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

Definition at line 66 of file CMatrixTemplate.h.

template<class T>

typedef std::ptrdiff_t mrpt::math::CMatrixTemplate< T >::difference_type

Definition at line 68 of file CMatrixTemplate.h.

template<class T>

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

Definition at line 65 of file CMatrixTemplate.h.

template<class T>

typedef std::size_t mrpt::math::CMatrixTemplate< T >::size_type

Definition at line 67 of file CMatrixTemplate.h.

template<class T>

typedef T mrpt::math::CMatrixTemplate< T >::value_type

The type of the matrix elements.

Definition at line 64 of file CMatrixTemplate.h.

Constructor & Destructor Documentation

template<class T>

mrpt::math::CMatrixTemplate< T >::CMatrixTemplate ( const CMatrixTemplate< T > & m )

inline

Constructors.

Definition at line 148 of file CMatrixTemplate.h.

template<class T>

mrpt::math::CMatrixTemplate< T >::CMatrixTemplate	(	size_t	row = `1`,
		size_t	col = `1`
	)

inline

Definition at line 153 of file CMatrixTemplate.h.

template<class T>

mrpt::math::CMatrixTemplate< T >::CMatrixTemplate	(	const CMatrixTemplate< T > &	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<class T>

template<typename V , size_t N>

mrpt::math::CMatrixTemplate< T >::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<class T>

template<typename V >

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

template<class T>

virtual mrpt::math::CMatrixTemplate< T >::~CMatrixTemplate ( )

inlinevirtual

Destructor.

Definition at line 205 of file CMatrixTemplate.h.

Member Function Documentation

template<class T>

void mrpt::math::CMatrixTemplate< T >::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).
  \exception std::exception On size mismatch.

See Also: extractCol; appendRow

Definition at line 538 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::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<class T>

template<size_t N>

void mrpt::math::CMatrixTemplate< T >::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.

template<class T>

void mrpt::math::CMatrixTemplate< T >::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.

template<class T>

void mrpt::math::CMatrixTemplate< T >::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.

template<class T>

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

inline

Gets a series of contiguous columns.

  \exception std::logic_error On index out of bounds

See Also: extractColumn; extractRows

Definition at line 455 of file CMatrixTemplate.h.

template<class T>

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

inline

Gets a series of contiguous rows.

  \exception std::logic_error On index out of bounds

See Also: extractRow; extractColumns

Definition at line 445 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::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< mrpt::math::TPoint3D >::operator()().

template<class T>

template<class Derived >

void mrpt::math::CMatrixTemplate< T >::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.

template<class T>

void mrpt::math::CMatrixTemplate< T >::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.

template<class T>

const T& mrpt::math::CMatrixTemplate< T >::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.

template<class T>

T& mrpt::math::CMatrixTemplate< T >::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.

template<class T>

T* mrpt::math::CMatrixTemplate< T >::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.

template<class T>

const T* mrpt::math::CMatrixTemplate< T >::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.

template<class T>

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

inline

Returns a vector containing the matrix's values.

Definition at line 566 of file CMatrixTemplate.h.

template<class T>

size_t mrpt::math::CMatrixTemplate< T >::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< mrpt::math::TPoint3D >::ASSERT_ENOUGHROOM(), and mrpt::math::CMatrixTemplateObjects< T >::operator=().

template<class T>

size_t mrpt::math::CMatrixTemplate< T >::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< mrpt::math::TPoint3D >::ASSERT_ENOUGHROOM(), and mrpt::math::CMatrixTemplateObjects< T >::operator=().

template<class T>

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

inline

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

  \exception std::exception On index out of bounds

See Also: extractCol

Definition at line 553 of file CMatrixTemplate.h.

template<class T>

T& mrpt::math::CMatrixTemplate< T >::operator()	(	size_t	row,
		size_t	col
	)

inline

Subscript operator to get/set individual elements.

Definition at line 275 of file CMatrixTemplate.h.

template<class T>

const T& mrpt::math::CMatrixTemplate< T >::operator()	(	size_t	row,
		size_t	col
	)		const

inline

Subscript operator to get individual elements.

Definition at line 286 of file CMatrixTemplate.h.

template<class T>

T& mrpt::math::CMatrixTemplate< T >::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.

template<class T>

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

template<class T>

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

template<class T>

CMatrixTemplate& mrpt::math::CMatrixTemplate< T >::operator= ( const CMatrixTemplate< T > & m )

inline

Assignment operator from another matrix.

Definition at line 208 of file CMatrixTemplate.h.

template<class T>

template<typename V , size_t N>

CMatrixTemplate& mrpt::math::CMatrixTemplate< 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

Definition at line 228 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::realloc	(	size_t	row,
		size_t	col,
		bool	newElementsToZero = `false`
	)

inlineprotected

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.

template<class T>

void mrpt::math::CMatrixTemplate< T >::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.

template<class T>

void mrpt::math::CMatrixTemplate< T >::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.

template<class T>

void mrpt::math::CMatrixTemplate< T >::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< mrpt::math::TPoint3D >::extractCol(), mrpt::math::CMatrixTemplate< mrpt::math::TPoint3D >::extractColumns(), mrpt::math::CMatrixTemplate< mrpt::math::TPoint3D >::extractRows(), mrpt::poses::CPose2DGridTemplate< double >::getAsMatrix(), and mrpt::math::CMatrixTemplate< mrpt::math::TPoint3D >::resize().

template<class T>

CMatrixTemplateSize mrpt::math::CMatrixTemplate< T >::size ( ) const

inline

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

Definition at line 253 of file CMatrixTemplate.h.

template<class T>

void mrpt::math::CMatrixTemplate< T >::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.

Member Data Documentation

template<class T>

size_t mrpt::math::CMatrixTemplate< T >::m_Cols

protected

Definition at line 73 of file CMatrixTemplate.h.

template<class T>

size_t mrpt::math::CMatrixTemplate< T >::m_Rows

protected

Definition at line 73 of file CMatrixTemplate.h.

template<class T>

T** mrpt::math::CMatrixTemplate< T >::m_Val

protected

Definition at line 72 of file CMatrixTemplate.h.

Detailed Description

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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