HouseholderSequence_HouseholderSequence.cpp
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1 Matrix3d v = Matrix3d::Random();
2 cout << "The matrix v is:" << endl;
3 cout << v << endl;
4 
5 Vector3d v0(1, v(1,0), v(2,0));
6 cout << "The first Householder vector is: v_0 = " << v0.transpose() << endl;
7 Vector3d v1(0, 1, v(2,1));
8 cout << "The second Householder vector is: v_1 = " << v1.transpose() << endl;
9 Vector3d v2(0, 0, 1);
10 cout << "The third Householder vector is: v_2 = " << v2.transpose() << endl;
11 
12 Vector3d h = Vector3d::Random();
13 cout << "The Householder coefficients are: h = " << h.transpose() << endl;
14 
15 Matrix3d H0 = Matrix3d::Identity() - h(0) * v0 * v0.adjoint();
16 cout << "The first Householder reflection is represented by H_0 = " << endl;
17 cout << H0 << endl;
18 Matrix3d H1 = Matrix3d::Identity() - h(1) * v1 * v1.adjoint();
19 cout << "The second Householder reflection is represented by H_1 = " << endl;
20 cout << H1 << endl;
21 Matrix3d H2 = Matrix3d::Identity() - h(2) * v2 * v2.adjoint();
22 cout << "The third Householder reflection is represented by H_2 = " << endl;
23 cout << H2 << endl;
24 cout << "Their product is H_0 H_1 H_2 = " << endl;
25 cout << H0 * H1 * H2 << endl;
26 
27 HouseholderSequence<Matrix3d, Vector3d> hhSeq(v, h);
28 Matrix3d hhSeqAsMatrix(hhSeq);
29 cout << "If we construct a HouseholderSequence from v and h" << endl;
30 cout << "and convert it to a matrix, we get:" << endl;
31 cout << hhSeqAsMatrix << endl;
v0
static const double v0
Definition: testCal3DFisheye.cpp:31
hhSeqAsMatrix
Matrix3d hhSeqAsMatrix(hhSeq)
h
const double h
Definition: testSimpleHelicopter.cpp:19
v
Matrix3d v
Definition: HouseholderSequence_HouseholderSequence.cpp:1
v2
Vector v2
Definition: testSerializationBase.cpp:39
hhSeq
cout<< "The matrix v is:"<< endl;cout<< v<< endl;Vector3d v0(1, v(1, 0), v(2, 0));cout<< "The first Householder vector is: v_0 = "<< v0.transpose()<< endl;Vector3d v1(0, 1, v(2, 1));cout<< "The second Householder vector is: v_1 = "<< v1.transpose()<< endl;Vector3d v2(0, 0, 1);cout<< "The third Householder vector is: v_2 = "<< v2.transpose()<< endl;Vector3d h=Vector3d::Random();cout<< "The Householder coefficients are: h = "<< h.transpose()<< endl;Matrix3d H0=Matrix3d::Identity() - h(0) *v0 *v0.adjoint();cout<< "The first Householder reflection is represented by H_0 = "<< endl;cout<< H0<< endl;Matrix3d H1=Matrix3d::Identity() - h(1) *v1 *v1.adjoint();cout<< "The second Householder reflection is represented by H_1 = "<< endl;cout<< H1<< endl;Matrix3d H2=Matrix3d::Identity() - h(2) *v2 *v2.adjoint();cout<< "The third Householder reflection is represented by H_2 = "<< endl;cout<< H2<< endl;cout<< "Their product is H_0 H_1 H_2 = "<< endl;cout<< H0 *H1 *H2<< endl;HouseholderSequence< Matrix3d, Vector3d > hhSeq(v, h)
v1
Vector v1
Definition: testSerializationBase.cpp:38


gtsam
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autogenerated on Sat Nov 16 2024 04:02:26