This base provides a set of functions for maths stuff.
Namespaces | |
detail | |
jacobians | |
A collection of functions to compute jacobians of diverse transformations, etc (some functions are redirections to existing methods elsewhere, so this namespace is actually used with grouping purposes). | |
Classes | |
class | CArray |
A STL container (as wrapper) for arrays of constant size defined at compile time - Users will most likely prefer to use CArrayPOD and its derived classes instead. More... | |
class | CArray< T, 0 > |
class | CArrayDouble |
A partial specialization of CArrayNumeric for double numbers. More... | |
class | CArrayFloat |
A partial specialization of CArrayNumeric for float numbers. More... | |
class | CArrayInt |
A partial specialization of CArrayNumeric for int numbers. More... | |
class | CArrayNumeric |
CArrayNumeric is an array for numeric types supporting several mathematical operations (actually, just a wrapper on Eigen::Matrix<T,N,1>) More... | |
class | CArrayUInt |
A partial specialization of CArrayNumeric for unsigned int numbers. More... | |
class | CBinaryRelation |
This class models a binary relation through the elements of any given set. More... | |
class | CConstMatrixColumnAccessor |
A vector-like wrapper for a const Matrix for accessing the elements of a given column with a [] operator. More... | |
class | CConstMatrixColumnAccessorExtended |
A vector-like wrapper for a const Matrix for accessing the elements of a given column with a [] operator, with offset and custom spacing. More... | |
class | CConstMatrixRowAccessor |
A vector-like wrapper for a const Matrix for accessing the elements of a given row with a [] operator. More... | |
class | CConstMatrixRowAccessorExtended |
A vector-like wrapper for a const Matrix for accessing the elements of a given row with a [] operator, with offset and custom spacing. More... | |
class | CExceptionNotDefPos |
Used in mrpt::math::CSparseMatrix. More... | |
class | CHistogram |
This class provides an easy way of computing histograms for unidimensional real valued variables. More... | |
class | CLevenbergMarquardtTempl |
An implementation of the Levenberg-Marquardt algorithm for least-square minimization. More... | |
class | CMatrix |
This class is a "CSerializable" wrapper for "CMatrixFloat". More... | |
class | CMatrixB |
This class is a "CSerializable" wrapper for "CMatrixBool". More... | |
class | CMatrixBool |
Declares a matrix of booleans (non serializable). More... | |
class | CMatrixColumnAccessor |
A vector-like wrapper for a Matrix for accessing the elements of a given column with a [] operator. More... | |
class | CMatrixColumnAccessorExtended |
A vector-like wrapper for a Matrix for accessing the elements of a given column with a [] operator, with offset and custom spacing. More... | |
class | CMatrixD |
This class is a "CSerializable" wrapper for "CMatrixTemplateNumeric<double>". More... | |
class | CMatrixFixedNumeric |
A numeric matrix of compile-time fixed size. More... | |
class | CMatrixRowAccessor |
A vector-like wrapper for a Matrix for accessing the elements of a given row with a [] operator. More... | |
class | CMatrixRowAccessorExtended |
A vector-like wrapper for a Matrix for accessing the elements of a given row with a [] operator, with offset and custom spacing. More... | |
class | CMatrixTemplate |
This template class provides the basic functionality for a general 2D any-size, resizable container of numerical or non-numerical elements. More... | |
class | CMatrixTemplateNumeric |
A matrix of dynamic size. More... | |
class | CMatrixTemplateObjects |
This template class extends the class "CMatrixTemplate" for storing "objects" at each matrix entry. More... | |
struct | CMatrixTemplateSize |
Auxiliary class used in CMatrixTemplate:size(), CMatrixTemplate::resize(), CMatrixFixedNumeric::size(), CMatrixFixedNumeric::resize(), to mimic the behavior of STL-containers. More... | |
class | CMonteCarlo |
Montecarlo simulation for experiments in 1D. More... | |
struct | ContainerType |
ContainerType<T>::element_t exposes the value of any STL or Eigen container. More... | |
struct | ContainerType< Eigen::EigenBase< Derived > > |
Specialization for Eigen containers. More... | |
class | CPolygon |
A wrapper of a TPolygon2D class, implementing CSerializable. More... | |
class | CQuaternion |
A quaternion, which can represent a 3D rotation as pair ![]() ![]() | |
class | CSparseMatrix |
A sparse matrix structure, wrapping T. More... | |
class | CSparseMatrixTemplate |
A sparse matrix container (with cells of any type), with iterators. More... | |
class | CSparseSymmetricalMatrix |
A sparse matrix container for square symmetrical content around the main diagonal. More... | |
class | CSplineInterpolator1D |
A (persistent) sequence of (x,y) coordinates, allowing queries of intermediate points through spline interpolation, where possible. More... | |
class | dynamic_vector |
Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction. More... | |
class | KDTreeCapable |
A generic adaptor class for providing Nearest Neighbor (NN) lookup via the nanoflann library. More... | |
struct | MatrixBlockSparseCols |
A templated column-indexed efficient storage of block-sparse Jacobian or Hessian matrices, together with other arbitrary information. More... | |
class | ModelSearch |
Model search implementations: RANSAC and genetic algorithm. More... | |
class | RANSAC_Template |
A generic RANSAC implementation with models as matrices. More... | |
struct | RobustKernel |
struct | RobustKernel< rkLeastSquares, T > |
No robust kernel, use standard least squares: rho(r) = r^2. More... | |
struct | RobustKernel< rkPseudoHuber, T > |
Pseudo-huber robust kernel: rho(r) = 2 * delta^2 * ( -1+sqrt( 1+ r^2/delta^2 ) ) More... | |
struct | TLine2D |
2D line without bounds, represented by its equation ![]() | |
struct | TLine3D |
3D line, represented by a base point and a director vector. More... | |
struct | TObject2D |
Standard type for storing any lightweight 2D type. More... | |
struct | TObject3D |
Standard object for storing any 3D lightweight object. More... | |
struct | TPlane |
3D Plane, represented by its equation ![]() | |
struct | TPoint2D |
Lightweight 2D point. More... | |
struct | TPoint3D |
Lightweight 3D point. More... | |
struct | TPoint3Df |
Lightweight 3D point (float version). More... | |
struct | TPointXYZfIu8 |
XYZ point (float) + Intensity(u8) More... | |
struct | TPointXYZfRGBu8 |
XYZ point (float) + RGB(u8) More... | |
struct | TPointXYZIu8 |
XYZ point (double) + Intensity(u8) More... | |
struct | TPointXYZRGBu8 |
XYZ point (double) + RGB(u8) More... | |
class | TPolygon2D |
2D polygon, inheriting from std::vector<TPoint2D>. More... | |
class | TPolygon3D |
3D polygon, inheriting from std::vector<TPoint3D> More... | |
class | TPolygonWithPlane |
Slightly heavyweight type to speed-up calculations with polygons in 3D. More... | |
struct | TPose2D |
Lightweight 2D pose. More... | |
struct | TPose3D |
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates). More... | |
struct | TPose3DQuat |
Lightweight 3D pose (three spatial coordinates, plus a quaternion ). More... | |
struct | TSegment2D |
2D segment, consisting of two points. More... | |
struct | TSegment3D |
3D segment, consisting of two points. More... | |
Typedefs | |
typedef CLevenbergMarquardtTempl< mrpt::math::CVectorDouble > | CLevenbergMarquardt |
The default name for the LM class is an instantiation for "double". More... | |
typedef CMatrixTemplateNumeric< float > | CMatrixFloat |
Declares a matrix of float numbers (non serializable). More... | |
typedef CMatrixTemplateNumeric< double > | CMatrixDouble |
Declares a matrix of double numbers (non serializable). More... | |
typedef CMatrixTemplateNumeric< unsigned int > | CMatrixUInt |
Declares a matrix of unsigned ints (non serializable). More... | |
typedef CMatrixTemplateNumeric< double > | CMatrixLongDouble |
Declares a matrix of "long doubles" (non serializable), or of "doubles" if the compiler does not support "long double". More... | |
typedef CQuaternion< double > | CQuaternionDouble |
A quaternion of data type "double". More... | |
typedef CQuaternion< float > | CQuaternionFloat |
A quaternion of data type "float". More... | |
typedef dynamic_vector< float > | CVectorFloat |
Column vector, like Eigen::MatrixXf, but automatically initialized to zeros since construction. More... | |
typedef dynamic_vector< double > | CVectorDouble |
Column vector, like Eigen::MatrixXd, but automatically initialized to zeros since construction. More... | |
typedef TPlane | TPlane3D |
typedef RANSAC_Template< double > | RANSAC |
The default instance of RANSAC, for double type. More... | |
Enumerations | |
enum | TConstructorFlags_Quaternions { UNINITIALIZED_QUATERNION = 0 } |
enum | TMatrixTextFileFormat { MATRIX_FORMAT_ENG = 0, MATRIX_FORMAT_FIXED = 1, MATRIX_FORMAT_INT = 2 } |
enum | TConstructorFlags_Matrices { UNINITIALIZED_MATRIX = 0 } |
For usage in one of the constructors of CMatrixFixedNumeric or CMatrixTemplate (and derived classes), if it's not required to fill it with zeros at the constructor to save time. More... | |
enum | TRobustKernelType { rkLeastSquares = 0, rkPseudoHuber } |
The different types of kernels for usage within a robustified least-squares estimator. More... | |
Functions | |
template<class T , std::size_t N> | |
bool | operator== (const CArray< T, N > &x, const CArray< T, N > &y) |
template<class T , std::size_t N> | |
bool | operator< (const CArray< T, N > &x, const CArray< T, N > &y) |
template<class T , std::size_t N> | |
bool | operator!= (const CArray< T, N > &x, const CArray< T, N > &y) |
template<class T , std::size_t N> | |
bool | operator> (const CArray< T, N > &x, const CArray< T, N > &y) |
template<class T , std::size_t N> | |
bool | operator<= (const CArray< T, N > &x, const CArray< T, N > &y) |
template<class T , std::size_t N> | |
bool | operator>= (const CArray< T, N > &x, const CArray< T, N > &y) |
BASE_IMPEXP ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CMatrixPtr &pObj) |
BASE_IMPEXP ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CMatrixBPtr &pObj) |
BASE_IMPEXP ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CMatrixDPtr &pObj) |
BASE_IMPEXP ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPolygonPtr &pObj) |
BASE_IMPEXP ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CSplineInterpolator1DPtr &pObj) |
double BASE_IMPEXP | normalPDF (double x, double mu, double std) |
Evaluates the univariate normal (Gaussian) distribution at a given point "x". More... | |
template<class VECTORLIKE1 , class VECTORLIKE2 , class MATRIXLIKE > | |
MATRIXLIKE::Scalar | normalPDFInf (const VECTORLIKE1 &x, const VECTORLIKE2 &mu, const MATRIXLIKE &cov_inv, const bool scaled_pdf=false) |
Evaluates the multivariate normal (Gaussian) distribution at a given point "x". More... | |
template<class VECTORLIKE1 , class VECTORLIKE2 , class MATRIXLIKE > | |
MATRIXLIKE::Scalar | normalPDF (const VECTORLIKE1 &x, const VECTORLIKE2 &mu, const MATRIXLIKE &cov, const bool scaled_pdf=false) |
Evaluates the multivariate normal (Gaussian) distribution at a given point "x". More... | |
template<typename VECTORLIKE , typename MATRIXLIKE > | |
MATRIXLIKE::Scalar | normalPDF (const VECTORLIKE &d, const MATRIXLIKE &cov) |
Evaluates the multivariate normal (Gaussian) distribution at a given point given its distance vector "d" from the Gaussian mean. More... | |
template<typename VECTORLIKE1 , typename MATRIXLIKE1 , typename VECTORLIKE2 , typename MATRIXLIKE2 > | |
double | KLD_Gaussians (const VECTORLIKE1 &mu0, const MATRIXLIKE1 &cov0, const VECTORLIKE2 &mu1, const MATRIXLIKE2 &cov1) |
Kullback-Leibler divergence (KLD) between two independent multivariate Gaussians. More... | |
double BASE_IMPEXP | erfc (const double x) |
The complementary error function of a Normal distribution. More... | |
double BASE_IMPEXP | erf (const double x) |
The error function of a Normal distribution. More... | |
double BASE_IMPEXP | normalQuantile (double p) |
Evaluates the Gaussian distribution quantile for the probability value p=[0,1]. More... | |
double BASE_IMPEXP | normalCDF (double p) |
Evaluates the Gaussian cumulative density function. More... | |
double BASE_IMPEXP | chi2inv (double P, unsigned int dim=1) |
The "quantile" of the Chi-Square distribution, for dimension "dim" and probability 0<P<1 (the inverse of chi2CDF) An aproximation from the Wilson-Hilferty transformation is used. More... | |
double BASE_IMPEXP | noncentralChi2CDF (unsigned int degreesOfFreedom, double noncentrality, double arg) |
double BASE_IMPEXP | chi2CDF (unsigned int degreesOfFreedom, double arg) |
double BASE_IMPEXP | chi2PDF (unsigned int degreesOfFreedom, double arg, double accuracy=1e-7) |
std::pair< double, double > BASE_IMPEXP | noncentralChi2PDF_CDF (unsigned int degreesOfFreedom, double noncentrality, double arg, double eps=1e-7) |
Returns the 'exact' PDF (first) and CDF (second) of a Non-central chi-squared probability distribution, using an iterative method. More... | |
template<typename CONTAINER > | |
void | confidenceIntervals (const CONTAINER &data, typename mrpt::math::ContainerType< CONTAINER >::element_t &out_mean, typename mrpt::math::ContainerType< CONTAINER >::element_t &out_lower_conf_interval, typename mrpt::math::ContainerType< CONTAINER >::element_t &out_upper_conf_interval, const double confidenceInterval=0.1, const size_t histogramNumBins=1000) |
Return the mean and the 10%-90% confidence points (or with any other confidence value) of a set of samples by building the cummulative CDF of all the elements of the container. More... | |
void BASE_IMPEXP | fft_real (CVectorFloat &in_realData, CVectorFloat &out_FFT_Re, CVectorFloat &out_FFT_Im, CVectorFloat &out_FFT_Mag) |
Computes the FFT of a 2^N-size vector of real numbers, and returns the Re+Im+Magnitude parts. More... | |
void BASE_IMPEXP | dft2_real (const CMatrixFloat &in_data, CMatrixFloat &out_real, CMatrixFloat &out_imag) |
Compute the 2D Discrete Fourier Transform (DFT) of a real matrix, returning the real and imaginary parts separately. More... | |
void BASE_IMPEXP | idft2_real (const CMatrixFloat &in_real, const CMatrixFloat &in_imag, CMatrixFloat &out_data) |
Compute the 2D inverse Discrete Fourier Transform (DFT) More... | |
void BASE_IMPEXP | dft2_complex (const CMatrixFloat &in_real, const CMatrixFloat &in_imag, CMatrixFloat &out_real, CMatrixFloat &out_imag) |
Compute the 2D Discrete Fourier Transform (DFT) of a complex matrix, returning the real and imaginary parts separately. More... | |
void BASE_IMPEXP | idft2_complex (const CMatrixFloat &in_real, const CMatrixFloat &in_imag, CMatrixFloat &out_real, CMatrixFloat &out_imag) |
Compute the 2D inverse Discrete Fourier Transform (DFT). More... | |
void BASE_IMPEXP | cross_correlation_FFT (const CMatrixFloat &A, const CMatrixFloat &B, CMatrixFloat &out_corr) |
Correlation of two matrixes using 2D FFT. More... | |
template<class MATRIXLIKE1 , class MATRIXLIKE2 > | |
void | 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. More... | |
template<class IN_ROTMATRIX , class IN_XYZ , class OUT_ROTMATRIX , class OUT_XYZ > | |
void | 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. More... | |
template<class MATRIXLIKE > | |
void | homogeneousMatrixInverse (MATRIXLIKE &M) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More... | |
template<class T , class VECTOR > | |
T | interpolate (const T &x, const VECTOR &ys, const T &x0, const T &x1) |
Interpolate a data sequence "ys" ranging from "x0" to "x1" (equally spaced), to obtain the approximation of the sequence at the point "x". More... | |
double BASE_IMPEXP | interpolate2points (const double x, const double x0, const double y0, const double x1, const double y1, bool wrap2pi=false) |
Linear interpolation/extrapolation: evaluates at "x" the line (x0,y0)-(x1,y1). More... | |
double BASE_IMPEXP | spline (const double t, const CVectorDouble &x, const CVectorDouble &y, bool wrap2pi=false) |
Interpolates the value of a function in a point "t" given 4 SORTED points where "t" is between the two middle points If wrap2pi is true, output "y" values are wrapped to ]-pi,pi] (It is assumed that input "y" values already are in the correct range). More... | |
template<typename NUMTYPE , class VECTORLIKE > | |
NUMTYPE | leastSquareLinearFit (const NUMTYPE t, const VECTORLIKE &x, const VECTORLIKE &y, bool wrap2pi=false) |
Interpolates or extrapolates using a least-square linear fit of the set of values "x" and "y", evaluated at a single point "t". More... | |
template<class VECTORLIKE1 , class VECTORLIKE2 , class VECTORLIKE3 > | |
void | leastSquareLinearFit (const VECTORLIKE1 &ts, VECTORLIKE2 &outs, const VECTORLIKE3 &x, const VECTORLIKE3 &y, bool wrap2pi=false) |
Interpolates or extrapolates using a least-square linear fit of the set of values "x" and "y", evaluated at a sequence of points "ts" and returned at "outs". More... | |
std::ostream BASE_IMPEXP & | operator<< (std::ostream &o, const TPoint2D &p) |
std::ostream BASE_IMPEXP & | operator<< (std::ostream &o, const TPoint3D &p) |
std::ostream BASE_IMPEXP & | operator<< (std::ostream &o, const TPose2D &p) |
std::ostream BASE_IMPEXP & | operator<< (std::ostream &o, const TPose3D &p) |
std::ostream BASE_IMPEXP & | operator<< (std::ostream &o, const TPose3DQuat &p) |
TPoint3D | operator- (const TPoint3D &p1) |
Unary minus operator for 3D points. More... | |
bool | operator== (const TPoint2D &p1, const TPoint2D &p2) |
Exact comparison between 2D points. More... | |
bool | operator!= (const TPoint2D &p1, const TPoint2D &p2) |
Exact comparison between 2D points. More... | |
bool | operator== (const TPoint3D &p1, const TPoint3D &p2) |
Exact comparison between 3D points. More... | |
bool | operator!= (const TPoint3D &p1, const TPoint3D &p2) |
Exact comparison between 3D points. More... | |
bool | operator== (const TPose2D &p1, const TPose2D &p2) |
Exact comparison between 2D poses, taking possible cycles into account. More... | |
bool | operator!= (const TPose2D &p1, const TPose2D &p2) |
Exact comparison between 2D poses, taking possible cycles into account. More... | |
bool | operator== (const TPose3D &p1, const TPose3D &p2) |
Exact comparison between 3D poses, taking possible cycles into account. More... | |
bool | operator!= (const TPose3D &p1, const TPose3D &p2) |
Exact comparison between 3D poses, taking possible cycles into account. More... | |
bool | operator== (const TSegment2D &s1, const TSegment2D &s2) |
bool | operator!= (const TSegment2D &s1, const TSegment2D &s2) |
bool | operator== (const TSegment3D &s1, const TSegment3D &s2) |
bool | operator!= (const TSegment3D &s1, const TSegment3D &s2) |
BASE_IMPEXP mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TPoint2D &o) |
TPoint2D binary input. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TPoint2D &o) |
TPoint2D binary output. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TPoint3D &o) |
TPoint3D binary input. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TPoint3D &o) |
TPoint3D binary output. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TPose2D &o) |
TPose2D binary input. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TPose2D &o) |
TPose2D binary output. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TPose3D &o) |
TPose3D binary input. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TPose3D &o) |
TPose3D binary output. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TSegment2D &s) |
TSegment2D binary input. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TSegment2D &s) |
TSegment2D binary output. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TLine2D &l) |
TLine2D binary input. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TLine2D &l) |
TLine2D binary output. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TObject2D &o) |
TObject2D binary input. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TObject2D &o) |
TObject2D binary input. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TSegment3D &s) |
TSegment3D binary input. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TSegment3D &s) |
TSegment3D binary output. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TLine3D &l) |
TLine3D binary input. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TLine3D &l) |
TLine3D binary output. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TPlane &p) |
TPlane binary input. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TPlane &p) |
TPlane binary output. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, mrpt::math::TObject3D &o) |
TObject3D binary input. More... | |
BASE_IMPEXP mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &out, const mrpt::math::TObject3D &o) |
TObject3D binary output. More... | |
template<class CONTAINER1 , class CONTAINER2 > | |
void | cumsum (const CONTAINER1 &in_data, CONTAINER2 &out_cumsum) |
template<class CONTAINER > | |
CONTAINER::Scalar | norm (const CONTAINER &v) |
template<class CONTAINER > | |
CONTAINER::Scalar | norm_inf (const CONTAINER &v) |
template<class MAT_A , class SKEW_3VECTOR , class MAT_OUT > | |
void | multiply_A_skew3 (const MAT_A &A, const SKEW_3VECTOR &v, MAT_OUT &out) |
Only for vectors/arrays "v" of length3, compute out = A * Skew(v), where Skew(v) is the skew symmetric matric generated from v (see mrpt::math::skew_symmetric3) More... | |
template<class SKEW_3VECTOR , class MAT_A , class MAT_OUT > | |
void | multiply_skew3_A (const SKEW_3VECTOR &v, const MAT_A &A, MAT_OUT &out) |
Only for vectors/arrays "v" of length3, compute out = Skew(v) * A, where Skew(v) is the skew symmetric matric generated from v (see mrpt::math::skew_symmetric3) More... | |
template<class T > | |
T | wrapTo2Pi (T a) |
Modifies the given angle to translate it into the [0,2pi[ range. More... | |
template<typename MAT > | |
CMatrixRowAccessor< MAT > | getRowAccessor (MAT &m, size_t rowIdx) |
template<typename MAT > | |
CMatrixRowAccessorExtended< MAT > | getRowAccessor (MAT &m, size_t rowIdx, size_t offset, size_t space=1) |
template<typename MAT > | |
CConstMatrixRowAccessor< MAT > | getRowAccessor (const MAT &m, size_t rowIdx) |
template<typename MAT > | |
CConstMatrixRowAccessorExtended< MAT > | getRowAccessor (const MAT &m, size_t rowIdx, size_t offset, size_t space=1) |
template<typename MAT > | |
CMatrixColumnAccessor< MAT > | getColumnAccessor (MAT &m, size_t colIdx) |
template<typename MAT > | |
CMatrixColumnAccessorExtended< MAT > | getColumnAccessor (MAT &m, size_t colIdx, size_t offset, size_t space=1) |
template<typename MAT > | |
CConstMatrixColumnAccessor< MAT > | getColumnAccessor (const MAT &m, size_t colIdx) |
template<typename MAT > | |
CConstMatrixColumnAccessorExtended< MAT > | getColumnAccessor (const MAT &m, size_t colIdx, size_t offset, size_t space=1) |
template<class VECTORLIKE , class VECTORLIKE2 , class VECTORLIKE3 , class MATRIXLIKE , class USERPARAM > | |
void | 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. More... | |
template<class CONTAINER > | |
std::vector< double > | histogram (const CONTAINER &v, double limit_min, double limit_max, size_t number_bins, bool do_normalization=false, std::vector< double > *out_bin_centers=NULL) |
Computes the normalized or normal histogram of a sequence of numbers given the number of bins and the limits. More... | |
template<class EIGEN_CONTAINER > | |
void | resizeLike (EIGEN_CONTAINER &trg, const EIGEN_CONTAINER &src) |
template<typename T > | |
void | resizeLike (std::vector< T > &trg, const std::vector< T > &src) |
template<class CONTAINER1 , class CONTAINER2 , typename VALUE > | |
void | cumsum_tmpl (const CONTAINER1 &in_data, CONTAINER2 &out_cumsum) |
Computes the cumulative sum of all the elements, saving the result in another container. More... | |
template<class CONTAINER > | |
CONTAINER | cumsum (const CONTAINER &in_data) |
Computes the cumulative sum of all the elements. More... | |
template<class CONTAINER > | |
CONTAINER::Scalar | maximum (const CONTAINER &v) |
template<class CONTAINER > | |
CONTAINER::Scalar | minimum (const CONTAINER &v) |
template<typename T > | |
T | maximum (const std::vector< T > &v) |
template<typename T > | |
T | minimum (const std::vector< T > &v) |
template<class Derived > | |
const Eigen::MatrixBase< Derived >::AdjointReturnType | operator~ (const Eigen::MatrixBase< Derived > &m) |
Transpose operator for matrices. More... | |
template<class Derived > | |
Eigen::MatrixBase< Derived >::PlainObject | operator! (const Eigen::MatrixBase< Derived > &m) |
Unary inversion operator. More... | |
template<typename MAT_H , typename MAT_C , typename MAT_R > | |
void | multiply_HCHt (const MAT_H &H, const MAT_C &C, MAT_R &R, bool accumResultInOutput) |
R = H * C * H^t (with C symmetric) More... | |
template<typename VECTOR_H , typename MAT_C > | |
MAT_C::Scalar | multiply_HCHt_scalar (const VECTOR_H &H, const MAT_C &C) |
r (a scalar) = H * C * H^t (with a vector H and a symmetric matrix C) More... | |
template<typename MAT_H , typename MAT_C , typename MAT_R > | |
void | multiply_HtCH (const MAT_H &H, const MAT_C &C, MAT_R &R, bool accumResultInOutput) |
R = H^t * C * H (with C symmetric) More... | |
template<class MAT_IN , class VECTOR , class MAT_OUT > | |
void | meanAndCovMat (const MAT_IN &v, VECTOR &out_mean, MAT_OUT &out_cov) |
Computes the mean vector and covariance from a list of samples in an NxM matrix, where each row is a sample, so the covariance is MxM. More... | |
template<class MATRIX > | |
Eigen::Matrix< typename MATRIX::Scalar, MATRIX::ColsAtCompileTime, MATRIX::ColsAtCompileTime > | cov (const MATRIX &v) |
Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample, so the covariance is MxM. More... | |
template<class T > | |
std::ostream & | operator<< (std::ostream &out, const std::vector< T > &d) |
A template function for printing out the contents of a std::vector variable. More... | |
template<class T > | |
std::ostream & | operator<< (std::ostream &out, std::vector< T > *d) |
A template function for printing out the contents of a std::vector variable. More... | |
template<typename T , size_t N> | |
mrpt::utils::CStream & | operator<< (mrpt::utils::CStream &ostrm, const CArrayNumeric< T, N > &a) |
Binary dump of a CArrayNumeric<T,N> to a stream. More... | |
template<typename T , size_t N> | |
mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &istrm, CArrayNumeric< T, N > &a) |
Binary read of a CArrayNumeric<T,N> from a stream. More... | |
template<class VECTORLIKE1 , class MATLIKE1 , class USERPARAM , class VECTORLIKE2 , class VECTORLIKE3 , class MATLIKE2 > | |
void | transform_gaussian_unscented (const VECTORLIKE1 &x_mean, const MATLIKE1 &x_cov, void(*functor)(const VECTORLIKE1 &x, const USERPARAM &fixed_param, VECTORLIKE3 &y), const USERPARAM &fixed_param, VECTORLIKE2 &y_mean, MATLIKE2 &y_cov, const bool *elem_do_wrap2pi=NULL, const double alpha=1e-3, const double K=0, const double beta=2.0) |
Scaled unscented transformation (SUT) for estimating the Gaussian distribution of a variable Y=f(X) for an arbitrary function f() provided by the user. More... | |
template<class VECTORLIKE1 , class MATLIKE1 , class USERPARAM , class VECTORLIKE2 , class VECTORLIKE3 , class MATLIKE2 > | |
void | transform_gaussian_montecarlo (const VECTORLIKE1 &x_mean, const MATLIKE1 &x_cov, void(*functor)(const VECTORLIKE1 &x, const USERPARAM &fixed_param, VECTORLIKE3 &y), const USERPARAM &fixed_param, VECTORLIKE2 &y_mean, MATLIKE2 &y_cov, const size_t num_samples=1000, typename mrpt::aligned_containers< VECTORLIKE3 >::vector_t *out_samples_y=NULL) |
Simple Montecarlo-base estimation of the Gaussian distribution of a variable Y=f(X) for an arbitrary function f() provided by the user. More... | |
template<class VECTORLIKE1 , class MATLIKE1 , class USERPARAM , class VECTORLIKE2 , class VECTORLIKE3 , class MATLIKE2 > | |
void | transform_gaussian_linear (const VECTORLIKE1 &x_mean, const MATLIKE1 &x_cov, void(*functor)(const VECTORLIKE1 &x, const USERPARAM &fixed_param, VECTORLIKE3 &y), const USERPARAM &fixed_param, VECTORLIKE2 &y_mean, MATLIKE2 &y_cov, const VECTORLIKE1 &x_increments) |
First order uncertainty propagation estimator of the Gaussian distribution of a variable Y=f(X) for an arbitrary function f() provided by the user. More... | |
bool BASE_IMPEXP | loadVector (utils::CFileStream &f, std::vector< int > &d) |
Loads one row of a text file as a numerical std::vector. More... | |
bool BASE_IMPEXP | loadVector (utils::CFileStream &f, std::vector< double > &d) |
Loads one row of a text file as a numerical std::vector. More... | |
bool BASE_IMPEXP | isNaN (float f) MRPT_NO_THROWS |
Returns true if the number is NaN. More... | |
bool BASE_IMPEXP | isNaN (double f) MRPT_NO_THROWS |
Returns true if the number is NaN. More... | |
bool BASE_IMPEXP | isFinite (float f) MRPT_NO_THROWS |
Returns true if the number is non infinity. More... | |
bool BASE_IMPEXP | isFinite (double f) MRPT_NO_THROWS |
Returns true if the number is non infinity. More... | |
void BASE_IMPEXP | medianFilter (const std::vector< double > &inV, std::vector< double > &outV, const int &winSize, const int &numberOfSigmas=2) |
template<typename T , typename VECTOR > | |
void | 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. More... | |
template<class T , T STEP> | |
std::vector< T > | sequenceStdVec (T first, size_t length) |
Generates a sequence of values [first,first+STEP,first+2*STEP,...]. More... | |
template<class VEC1 , class VEC2 > | |
void | normalize (const VEC1 &v, VEC2 &out_v) |
Normalize a vector, such as its norm is the unity. More... | |
template<class VECTOR_OF_VECTORS , class VECTORLIKE > | |
void | 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. More... | |
uint64_t BASE_IMPEXP | factorial64 (unsigned int n) |
Computes the factorial of an integer number and returns it as a 64-bit integer number. More... | |
double BASE_IMPEXP | 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). More... | |
template<class T > | |
T | round2up (T val) |
Round up to the nearest power of two of a given number. More... | |
std::string BASE_IMPEXP | MATLAB_plotCovariance2D (const CMatrixFloat &cov22, const CVectorFloat &mean, const float &stdCount, const std::string &style=std::string("b"), const size_t &nEllipsePoints=30) |
Generates a string with the MATLAB commands required to plot an confidence interval (ellipse) for a 2D Gaussian ('float' version). More... | |
std::string BASE_IMPEXP | MATLAB_plotCovariance2D (const CMatrixDouble &cov22, const CVectorDouble &mean, const float &stdCount, const std::string &style=std::string("b"), const size_t &nEllipsePoints=30) |
Generates a string with the MATLAB commands required to plot an confidence interval (ellipse) for a 2D Gaussian ('double' version). More... | |
template<typename EIGEN_VECTOR , typename At , size_t N> | |
EIGEN_VECTOR & | loadVector (EIGEN_VECTOR &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). More... | |
template<typename T , typename At , size_t N> | |
std::vector< T > & | loadVector (std::vector< T > &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. More... | |
template<size_t N, typename T > | |
std::vector< T > | 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. More... | |
template<class TRIPLET > | |
bool | saveEigenSparseTripletsToFile (const std::string &sFile, std::vector< TRIPLET > &tri) |
Saves to a plain-text file the nonzero entries of a Eigen sparse matrix, represented as a vector of triplets. More... | |
template<typename Derived > | |
mxArray * | convertToMatlab (const Eigen::EigenBase< Derived > &mat) |
Convert vectors, arrays and matrices into Matlab vectors/matrices. More... | |
template<typename CONTAINER > | |
mxArray * | convertVectorToMatlab (const CONTAINER &vec) |
Convert std::vector<> or std::deque<> of numeric types into Matlab vectors. More... | |
template<class T > | |
void | wrapTo2PiInPlace (T &a) |
Modifies the given angle to translate it into the [0,2pi[ range. More... | |
template<class T > | |
T | wrapToPi (T a) |
Modifies the given angle to translate it into the ]-pi,pi] range. More... | |
template<class T > | |
void | wrapToPiInPlace (T &a) |
Modifies the given angle to translate it into the ]-pi,pi] range. More... | |
template<class VECTOR > | |
void | unwrap2PiSequence (VECTOR &x) |
Modify a sequence of angle values such as no consecutive values have a jump larger than PI in absolute value. More... | |
template<class T > | |
T | angDistance (T from, T to) |
Computes the shortest angular increment (or distance) between two planar orientations, such that it is constrained to [-pi,pi] and is correct for any combination of angles (e.g. More... | |
template<class MATRIXLIKE > | |
size_t | size (const MATRIXLIKE &m, int dim) |
Variables | |
double BASE_IMPEXP | geometryEpsilon |
Global epsilon to overcome small precision errors. More... | |
struct BASE_IMPEXP | TSegment3D |
struct BASE_IMPEXP | TLine3D |
class BASE_IMPEXP | TPolygon3D |
struct BASE_IMPEXP | TObject3D |
const unsigned char | GEOMETRIC_TYPE_POINT =0 |
Object type identifier for TPoint2D or TPoint3D. More... | |
const unsigned char | GEOMETRIC_TYPE_SEGMENT =1 |
Object type identifier for TSegment2D or TSegment3D. More... | |
const unsigned char | GEOMETRIC_TYPE_LINE =2 |
Object type identifier for TLine2D or TLine3D. More... | |
const unsigned char | GEOMETRIC_TYPE_POLYGON =3 |
Object type identifier for TPolygon2D or TPolygon3D. More... | |
const unsigned char | GEOMETRIC_TYPE_PLANE =4 |
Object type identifier for TPlane. More... | |
const unsigned char | GEOMETRIC_TYPE_UNDEFINED =255 |
Object type identifier for empty TObject2D or TObject3D. More... | |
The default name for the LM class is an instantiation for "double".
Definition at line 229 of file CLevenbergMarquardt.h.
typedef CMatrixTemplateNumeric< double > mrpt::math::CMatrixDouble |
Declares a matrix of double numbers (non serializable).
For a serializable version, use math::CMatrixD
Definition at line 130 of file CMatrixTemplateNumeric.h.
typedef CMatrixFixedNumeric<double,1,2> mrpt::math::CMatrixDouble12 |
Definition at line 54 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<double,1,3> mrpt::math::CMatrixDouble13 |
Definition at line 52 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<double,1,5> mrpt::math::CMatrixDouble15 |
Definition at line 61 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<double,1,6> mrpt::math::CMatrixDouble16 |
Definition at line 57 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<double,1,7> mrpt::math::CMatrixDouble17 |
Definition at line 59 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<double,2,1> mrpt::math::CMatrixDouble21 |
Definition at line 55 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<double,2,2> mrpt::math::CMatrixDouble22 |
Definition at line 45 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<double,2,3> mrpt::math::CMatrixDouble23 |
Definition at line 46 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<double,3,1> mrpt::math::CMatrixDouble31 |
Definition at line 53 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<double,3,2> mrpt::math::CMatrixDouble32 |
Definition at line 47 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<double,3,3> mrpt::math::CMatrixDouble33 |
Definition at line 48 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<double,4,1> mrpt::math::CMatrixDouble41 |
Definition at line 62 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<double,4,4> mrpt::math::CMatrixDouble44 |
Definition at line 49 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<double,5,1> mrpt::math::CMatrixDouble51 |
Definition at line 60 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<double,6,1> mrpt::math::CMatrixDouble61 |
Definition at line 56 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<double,6,6> mrpt::math::CMatrixDouble66 |
Definition at line 50 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<double,7,1> mrpt::math::CMatrixDouble71 |
Definition at line 58 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<double,7,7> mrpt::math::CMatrixDouble77 |
Definition at line 51 of file eigen_frwds.h.
typedef CMatrixTemplateNumeric< float > mrpt::math::CMatrixFloat |
Declares a matrix of float numbers (non serializable).
For a serializable version, use math::CMatrix
Definition at line 124 of file CMatrixTemplateNumeric.h.
typedef CMatrixFixedNumeric<float,1,2> mrpt::math::CMatrixFloat12 |
Definition at line 73 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<float,1,3> mrpt::math::CMatrixFloat13 |
Definition at line 71 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<float,1,5> mrpt::math::CMatrixFloat15 |
Definition at line 80 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<float,1,6> mrpt::math::CMatrixFloat16 |
Definition at line 76 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<float,1,7> mrpt::math::CMatrixFloat17 |
Definition at line 78 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<float,2,1> mrpt::math::CMatrixFloat21 |
Definition at line 74 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<float,2,2> mrpt::math::CMatrixFloat22 |
Definition at line 64 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<float,2,3> mrpt::math::CMatrixFloat23 |
Definition at line 65 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<float,3,1> mrpt::math::CMatrixFloat31 |
Definition at line 72 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<float,3,2> mrpt::math::CMatrixFloat32 |
Definition at line 66 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<float,3,3> mrpt::math::CMatrixFloat33 |
Definition at line 67 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<float,4,4> mrpt::math::CMatrixFloat44 |
Definition at line 68 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<float,5,1> mrpt::math::CMatrixFloat51 |
Definition at line 79 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<float,6,1> mrpt::math::CMatrixFloat61 |
Definition at line 75 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<float,6,6> mrpt::math::CMatrixFloat66 |
Definition at line 69 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<float,7,1> mrpt::math::CMatrixFloat71 |
Definition at line 77 of file eigen_frwds.h.
typedef CMatrixFixedNumeric<float,7,7> mrpt::math::CMatrixFloat77 |
Definition at line 70 of file eigen_frwds.h.
typedef CMatrixTemplateNumeric<double> mrpt::math::CMatrixLongDouble |
Declares a matrix of "long doubles" (non serializable), or of "doubles" if the compiler does not support "long double".
Definition at line 146 of file CMatrixTemplateNumeric.h.
typedef CMatrixTemplateNumeric<unsigned int> mrpt::math::CMatrixUInt |
Declares a matrix of unsigned ints (non serializable).
Definition at line 135 of file CMatrixTemplateNumeric.h.
typedef CQuaternion<double> mrpt::math::CQuaternionDouble |
A quaternion of data type "double".
Definition at line 407 of file CQuaternion.h.
typedef CQuaternion<float> mrpt::math::CQuaternionFloat |
A quaternion of data type "float".
Definition at line 408 of file CQuaternion.h.
typedef dynamic_vector< double > mrpt::math::CVectorDouble |
Column vector, like Eigen::MatrixXd, but automatically initialized to zeros since construction.
Definition at line 37 of file eigen_frwds.h.
typedef dynamic_vector< float > mrpt::math::CVectorFloat |
Column vector, like Eigen::MatrixXf, but automatically initialized to zeros since construction.
Definition at line 35 of file eigen_frwds.h.
For usage in one of the constructors of CMatrixFixedNumeric or CMatrixTemplate (and derived classes), if it's not required to fill it with zeros at the constructor to save time.
Enumerator | |
---|---|
UNINITIALIZED_MATRIX |
Definition at line 73 of file math_frwds.h.
Enumerator | |
---|---|
UNINITIALIZED_QUATERNION |
Definition at line 21 of file CQuaternion.h.
Selection of the number format in CMatrixTemplate::saveToTextFile
Enumerator | |
---|---|
MATRIX_FORMAT_ENG | engineering format 'e' |
MATRIX_FORMAT_FIXED | fixed floating point 'f' |
MATRIX_FORMAT_INT | intergers 'i' |
Definition at line 64 of file math_frwds.h.
void mrpt::math::adjustRange | ( | CONTAINER & | m, |
const typename CONTAINER::Scalar | minVal, | ||
const typename CONTAINER::Scalar | maxVal | ||
) |
Adjusts the range of all the elements such as the minimum and maximum values being those supplied by the user.
Definition at line 224 of file ops_containers.h.
References minimum_maximum().
CONTAINER & mrpt::math::containerFromPoseOrPoint | ( | CONTAINER & | C, |
const POINT_OR_POSE & | p | ||
) |
Conversion of poses (TPose2D,TPoint2D,..., mrpt::poses::CPoint2D,CPose3D,...) to MRPT containers (vector/matrix)
Conversion of poses to MRPT containers (vector/matrix)
Definition at line 23 of file point_poses2vectors.h.
References static_size.
size_t mrpt::math::countCommonElements | ( | const CONTAINER1 & | a, |
const CONTAINER2 & | b | ||
) |
Counts the number of elements that appear in both STL-like containers (comparison through the == operator) It is assumed that no repeated elements appear within each of the containers.
Definition at line 212 of file ops_containers.h.
References const_iterator.
|
inline |
Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample, so the covariance is MxM.
v | The set of data, as a NxM matrix. |
out_cov | The output MxM matrix for the estimated covariance matrix. |
Definition at line 135 of file ops_matrices.h.
References meanAndCovMat().
Referenced by mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::CRandomGenerator::drawGaussianMultivariateMany(), mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::getCovariance(), mrpt::poses::CPoint2DPDFGaussian::getCovarianceAndMean(), mrpt::poses::CPose3DQuatPDFGaussianInf::getCovarianceAndMean(), mrpt::poses::CPosePDFGaussianInf::getCovarianceAndMean(), mrpt::poses::CPosePDFGaussian::getCovarianceAndMean(), mrpt::poses::CPose3DPDFGaussianInf::getCovarianceAndMean(), mrpt::poses::CPose3DPDFGaussian::getCovarianceAndMean(), mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::getCovarianceDynAndMean(), mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::getInformationMatrix(), mrpt::pbmap::getMultiDimMeanShift_color(), mahalanobisDistance(), mahalanobisDistance2(), mahalanobisDistance2AndLogPDF(), mahalanobisDistance2AndPDF(), normalPDF(), mrpt::random::randomNormalMultiDimensional(), and mrpt::random::randomNormalMultiDimensionalMany().
|
inline |
Computes the covariance matrix from a list of values given as a vector of vectors, where each row is a sample.
v | The set of data, as a vector of N vectors of M elements. |
out_cov | The output MxM matrix for the estimated covariance matrix. |
RETURN_MATRIX | The type of the returned matrix, e.g. Eigen::MatrixXd |
Definition at line 333 of file ops_containers.h.
References meanAndCovVec().
|
inline |
Computes the cumulative sum of all the elements.
Definition at line 101 of file ops_containers.h.
References cumsum().
|
inline |
Definition at line 96 of file ops_containers.h.
Referenced by confidenceIntervals(), and cumsum().
|
inline |
Computes the cumulative sum of all the elements, saving the result in another container.
This works for both matrices (even mixing their types) and vectores/arrays (even mixing types), and even to store the cumsum of any matrix into any vector/array, but not in opposite direction.
Definition at line 86 of file ops_containers.h.
References resizeLike().
|
inline |
v1*v2: The dot product of two containers (vectors/arrays/matrices)
Definition at line 150 of file ops_containers.h.
|
inline |
v1*v2: The dot product of any two objects supporting []
Definition at line 157 of file ops_containers.h.
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, CVectorDouble, CArrayNumeric<>, double [N], ... MATRIXLIKE: CMatrixTemplateNumeric, CMatrixFixedNumeric
Definition at line 26 of file num_jacobian.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().
|
inline |
Definition at line 556 of file matrix_adaptors.h.
|
inline |
Definition at line 603 of file matrix_adaptors.h.
|
inline |
Definition at line 449 of file matrix_adaptors.h.
|
inline |
Definition at line 513 of file matrix_adaptors.h.
|
inline |
Definition at line 347 of file matrix_adaptors.h.
|
inline |
Definition at line 395 of file matrix_adaptors.h.
|
inline |
Definition at line 238 of file matrix_adaptors.h.
|
inline |
Definition at line 303 of file matrix_adaptors.h.
std::vector<double> mrpt::math::histogram | ( | const CONTAINER & | v, |
double | limit_min, | ||
double | limit_max, | ||
size_t | number_bins, | ||
bool | do_normalization = false , |
||
std::vector< double > * | out_bin_centers = NULL |
||
) |
Computes the normalized or normal histogram of a sequence of numbers given the number of bins and the limits.
In any case this is a "linear" histogram, i.e. for matrices, all the elements are taken as if they were a plain sequence, not taking into account they were in columns or rows. If desired, out_bin_centers can be set to receive the bins centers.
Definition at line 54 of file ops_containers.h.
References mrpt::math::CHistogram::add(), mrpt::math::CHistogram::getHistogram(), and mrpt::math::CHistogram::getHistogramNormalized().
Referenced by confidenceIntervals(), and mrpt::pbmap::getMode().
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 79 of file homog_matrices.h.
References ASSERT_, MRPT_END, MRPT_START, and size().
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 27 of file homog_matrices.h.
References ASSERT_, MRPT_END, MRPT_START, and size().
Referenced by mrpt::poses::CPoseOrPoint< CPoint3D >::getInverseHomogeneousMatrix(), and mrpt::obs::detail::project3DPointsFromDepthImageInto().
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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 108 of file homog_matrices.h.
References ASSERTDEB_, size(), and t().
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k-means algorithm to cluster a list of N points of arbitrary dimensionality into exactly K clusters.
The list of input points can be any template CONTAINER<POINT> with:
k | [IN] Number of cluster to look for. |
points | [IN] The list of N input points. It can be any STL-like containers of std::vector<float/double>, for example a std::vector<mrpt::math::CVectorDouble>, a std::list<CVectorFloat>, etc... |
assignments | [OUT] At output it will have a number [0,k-1] for each of the N input points. |
out_centers | [OUT] If not NULL, at output will have the centers of each group. Can be of any of the supported types of "points", but the basic coordinates should be float or double exactly as in "points". |
attempts | [IN] Number of attempts. |
Definition at line 118 of file kmeans.h.
References mrpt::math::detail::stub_kmeans().
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k-means++ algorithm to cluster a list of N points of arbitrary dimensionality into exactly K clusters.
The list of input points can be any template CONTAINER<POINT> with:
k | [IN] Number of cluster to look for. |
points | [IN] The list of N input points. It can be any STL-like containers of std::vector<float/double>, for example a std::vector<mrpt::math::CVectorDouble>, a std::list<CVectorFloat>, etc... |
assignments | [OUT] At output it will have a number [0,k-1] for each of the N input points. |
out_centers | [OUT] If not NULL, at output will have the centers of each group. Can be of any of the supported types of "points", but the basic coordinates should be float or double exactly as in "points". |
attempts | [IN] Number of attempts. |
Definition at line 146 of file kmeans.h.
References mrpt::math::detail::stub_kmeans().
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Definition at line 110 of file ops_containers.h.
Referenced by confidenceIntervals(), mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), weightedHistogram(), and weightedHistogramLog().
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Definition at line 113 of file ops_containers.h.
References ASSERT_, and mrpt::utils::keep_max().
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Computes the mean value of a vector.
Definition at line 178 of file ops_containers.h.
References sum().
Referenced by confidenceIntervals(), and mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal().
void mrpt::math::meanAndCovMat | ( | const MAT_IN & | v, |
VECTOR & | out_mean, | ||
MAT_OUT & | out_cov | ||
) |
Computes the mean vector and covariance from a list of samples in an NxM matrix, where each row is a sample, so the covariance is MxM.
v | The set of data as a NxM matrix, of types: CMatrixTemplateNumeric or CMatrixFixedNumeric |
out_mean | The output M-vector for the estimated mean. |
out_cov | The output MxM matrix for the estimated covariance matrix, this can also be either a fixed-size of dynamic size matrix. |
Definition at line 89 of file ops_matrices.h.
References ASSERTMSG_, and mrpt::utils::square().
Referenced by cov().
void mrpt::math::meanAndCovVec | ( | const VECTOR_OF_VECTOR & | v, |
VECTORLIKE & | out_mean, | ||
MATRIXLIKE & | out_cov | ||
) |
Computes the mean vector and covariance from a list of values given as a vector of vectors, where each row is a sample.
v | The set of data, as a vector of N vectors of M elements. |
out_mean | The output M-vector for the estimated mean. |
out_cov | The output MxM matrix for the estimated covariance matrix. |
Definition at line 287 of file ops_containers.h.
References ASSERTMSG_, and mrpt::utils::square().
Referenced by covVector().
void mrpt::math::meanAndStd | ( | const VECTORLIKE & | v, |
double & | out_mean, | ||
double & | out_std, | ||
bool | unbiased = true |
||
) |
Computes the standard deviation of a vector.
v | The set of data |
out_mean | The output for the estimated mean |
out_std | The output for the estimated standard deviation |
unbiased | If set to true or false the std is normalized by "N-1" or "N", respectively. |
Definition at line 243 of file ops_containers.h.
References mrpt::utils::square(), and sum().
Referenced by stddev().
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Definition at line 111 of file ops_containers.h.
Referenced by mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), weightedHistogram(), and weightedHistogramLog().
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Definition at line 120 of file ops_containers.h.
References ASSERT_, and mrpt::utils::keep_min().
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Return the maximum and minimum values of a Eigen-based vector or matrix.
Definition at line 201 of file ops_containers.h.
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Return the maximum and minimum values of a std::vector.
Definition at line 187 of file ops_containers.h.
References ASSERT_, mrpt::utils::keep_max(), and mrpt::utils::keep_min().
Referenced by adjustRange(), and confidenceIntervals().
void mrpt::math::multiply_A_skew3 | ( | const MAT_A & | A, |
const SKEW_3VECTOR & | v, | ||
MAT_OUT & | out | ||
) |
Only for vectors/arrays "v" of length3, compute out = A * Skew(v), where Skew(v) is the skew symmetric matric generated from v (see mrpt::math::skew_symmetric3)
Definition at line 150 of file ops_matrices.h.
References ASSERT_EQUAL_, MRPT_END, MRPT_START, and size().
Referenced by multiply_A_skew3().
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R = H * C * H^t (with C symmetric)
Definition at line 47 of file ops_matrices.h.
MAT_C::Scalar mrpt::math::multiply_HCHt_scalar | ( | const VECTOR_H & | H, |
const MAT_C & | C | ||
) |
r (a scalar) = H * C * H^t (with a vector H and a symmetric matrix C)
Definition at line 62 of file ops_matrices.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist(), KLD_Gaussians(), mahalanobisDistance2(), mahalanobisDistance2AndLogPDF(), normalPDF(), and normalPDFInf().
void mrpt::math::multiply_HtCH | ( | const MAT_H & | H, |
const MAT_C & | C, | ||
MAT_R & | R, | ||
bool | accumResultInOutput | ||
) |
R = H^t * C * H (with C symmetric)
Definition at line 69 of file ops_matrices.h.
void mrpt::math::multiply_skew3_A | ( | const SKEW_3VECTOR & | v, |
const MAT_A & | A, | ||
MAT_OUT & | out | ||
) |
Only for vectors/arrays "v" of length3, compute out = Skew(v) * A, where Skew(v) is the skew symmetric matric generated from v (see mrpt::math::skew_symmetric3)
Definition at line 169 of file ops_matrices.h.
References ASSERT_EQUAL_, MRPT_END, MRPT_START, and size().
Referenced by multiply_skew3_A().
double mrpt::math::ncc_vector | ( | const CONT1 & | patch1, |
const CONT2 & | patch2 | ||
) |
Normalised Cross Correlation between two vector patches The Matlab code for this is a = a - mean2(a); b = b - mean2(b); r = sum(sum(a.
*b))/sqrt(sum(sum(a.*a))*sum(sum(b.*b)));
Definition at line 349 of file ops_containers.h.
References ASSERT_, ASSERTMSG_, and mrpt::utils::square().
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Definition at line 109 of file ops_containers.h.
Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::pbmap::getMultiDimMeanShift_color(), and mrpt::graphslam::optimize_graph_spa_levmarq().
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Definition at line 108 of file ops_containers.h.
Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), and mrpt::graphslam::optimize_graph_spa_levmarq().
bool mrpt::math::operator!= | ( | const CArray< T, N > & | x, |
const CArray< T, N > & | y | ||
) |
bool mrpt::math::operator< | ( | const CArray< T, N > & | x, |
const CArray< T, N > & | y | ||
) |
Definition at line 283 of file CArray.h.
References mrpt::math::CArray< T, N >::begin(), and mrpt::math::CArray< T, N >::end().
bool mrpt::math::operator== | ( | const CArray< T, N > & | x, |
const CArray< T, N > & | y | ||
) |
Definition at line 279 of file CArray.h.
References mrpt::math::CArray< T, N >::begin(), and mrpt::math::CArray< T, N >::end().
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::math::operator>> | ( | mrpt::utils::CStream & | in, |
CMatrixBPtr & | pObj | ||
) |
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::math::operator>> | ( | mrpt::utils::CStream & | in, |
CMatrixDPtr & | pObj | ||
) |
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::math::operator>> | ( | mrpt::utils::CStream & | in, |
CMatrixPtr & | pObj | ||
) |
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::math::operator>> | ( | mrpt::utils::CStream & | in, |
CPolygonPtr & | pObj | ||
) |
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::math::operator>> | ( | mrpt::utils::CStream & | in, |
CSplineInterpolator1DPtr & | pObj | ||
) |
void mrpt::math::resizeLike | ( | EIGEN_CONTAINER & | trg, |
const EIGEN_CONTAINER & | src | ||
) |
Definition at line 73 of file ops_containers.h.
Referenced by cumsum_tmpl().
void mrpt::math::resizeLike | ( | std::vector< T > & | trg, |
const std::vector< T > & | src | ||
) |
Definition at line 77 of file ops_containers.h.
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Returns the size of the matrix in the i'th dimension: 1=rows, 2=columns (MATLAB-compatible function)
Definition at line 38 of file bits.h.
References THROW_EXCEPTION_CUSTOM_MSG1.
Referenced by mrpt::poses::CPose3D::CPose3D(), mrpt::maps::CMultiMetricMap::ProxyFilterContainerByClass< mrpt::maps::CHeightGridMap2D_MRFPtr, TListMaps >::empty(), end(), mrpt::pbmap::SemanticClustering::evalPartition(), mrpt::poses::CPoint< CPoint3D >::fromString(), mrpt::poses::CPose3DQuat::fromString(), mrpt::poses::CPose3DRotVec::fromString(), mrpt::poses::CPose3D::fromString(), mrpt::pbmap::getHistogramMeanShift(), mrpt::pbmap::getMultiDimMeanShift_color(), mrpt::maps::CPointsMap::getPCLPointCloud(), mrpt::maps::CColouredPointsMap::getPCLPointCloudXYZRGB(), mrpt::opengl::CPointCloudColoured::getPoint(), mrpt::opengl::CPointCloud::getPoint(), mrpt::maps::CPointsMap::getPointAllFields(), mrpt::opengl::CPointCloudColoured::getPointf(), mrpt::opengl::CPointCloud::getPointf(), mrpt::math::CPolygon::GetVertex_x(), mrpt::math::CPolygon::GetVertex_y(), homogeneousMatrixInverse(), mrpt::vision::CFeatureListKDTree< FEAT >::kdtree_distance(), mrpt::maps::CPointsMap::kdtree_distance(), mrpt::maps::CPointsMap::kdtree_get_point_count(), KLD_Gaussians(), mahalanobisDistance2(), maximum(), mean(), meanAndStdAll(), minimum(), multiply_A_skew3(), multiply_skew3_A(), normalize(), normalPDFInf(), mrpt::opengl::CPointCloudColoured::operator[](), mrpt::opengl::CPointCloud::operator[](), mrpt::vision::CFeatureList::operator[](), push_back(), mrpt::maps::CColouredPointsMap::setPoint(), mrpt::maps::CPointsMap::setPoint(), mrpt::maps::CPointsMap::setPointAllFields(), and mrpt::math::CPolygon::verticesCount().
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Compute the square norm of anything implementing [].
Definition at line 141 of file ops_containers.h.
References mrpt::utils::square().
VALUE mrpt::math::squareNorm_accum | ( | const VALUE | total, |
const CONTAINER & | v | ||
) |
Accumulate the squared-norm of a vector/array/matrix into "total" (this function is compatible with std::accumulate).
Definition at line 134 of file ops_containers.h.
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Computes the standard deviation of a vector.
v | The set of data |
unbiased | If set to true or false the std is normalized by "N-1" or "N", respectively. |
Definition at line 273 of file ops_containers.h.
References meanAndStd().
Referenced by mrpt::pbmap::getHistogramMeanShift().
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Computes the sum of all the elements.
Definition at line 166 of file ops_containers.h.
Referenced by mrpt::pbmap::getHistogramMeanShift(), mrpt::pbmap::getMultiDimMeanShift_color(), mean(), meanAndStd(), meanAndStd(), meanAndStdAll(), and mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().
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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 169 of file ops_containers.h.
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Computes the sum of all the elements, with a custom return type.
Definition at line 173 of file ops_containers.h.
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