Template Class CMatrixDynamic

Defined in File CMatrixDynamic.h

Inheritance Relationships

Base Type

public mrpt::math::MatrixBase< T, CMatrixDynamic< T > > (Template Class MatrixBase)

Derived Types

public mrpt::math::CMatrixB (Class CMatrixB)
public mrpt::math::CMatrixF (Class CMatrixF)

Class Documentation

template<class T> class CMatrixDynamic : public mrpt::math::MatrixBase<T, CMatrixDynamic<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::CMatrixD.
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”.
Use asEigen() to get an Eigen::Map<> object and to access full Algebra functionality.

See also

CMatrixFixed

Subclassed by mrpt::math::CMatrixB, mrpt::math::CMatrixF

Matrix type definitions

using value_type = T : The type of the matrix elements

using Scalar = T 

using Index = matrix_index_t 

using reference = T&

using const_reference = const T&

using size_type = matrix_dim_t 

using difference_type = std::ptrdiff_t

using eigen_t = Eigen::Matrix<T, RowsAtCompileTime, ColsAtCompileTime, StorageOrder, RowsAtCompileTime, ColsAtCompileTime>

static constexpr int RowsAtCompileTime = -1

static constexpr int ColsAtCompileTime = -1

static constexpr int SizeAtCompileTime = -1

static constexpr int is_mrpt_type = 1

static constexpr int StorageOrder = 1

Iterators interface

using iterator = typename vec_t::iterator

using const_iterator = typename vec_t::const_iterator

inline iterator begin()

inline iterator end()

inline const_iterator begin() const

inline const_iterator end() const

inline const_iterator cbegin() const

inline const_iterator cend() const

Public Functions

inline void swap(CMatrixDynamic<T> &o): Swap with another matrix very efficiently (just swaps a pointer and two integer values).

inline CMatrixDynamic(const CMatrixDynamic &m): Constructors

inline explicit CMatrixDynamic(size_type row = 0, size_type col = 0)

template<typename U> inline explicit CMatrixDynamic(const CMatrixDynamic<U> &m): Copy (casting from if needed) from another matrix

template<class Derived> inline explicit CMatrixDynamic(const Eigen::MatrixBase<Derived> &m): Convert from Eigen matrix

template<typename LHS, typename RHS, int Option> inline explicit CMatrixDynamic(const Eigen::Product<LHS, RHS, Option> &p): Convert from Eigen product

template<typename Op, typename Lhs, typename Rhs> inline explicit CMatrixDynamic(const Eigen::CwiseBinaryOp<Op, Lhs, Rhs> &p): Convert from Eigen binary op

inline CMatrixDynamic(const CMatrixDynamic &m, size_type cropRowCount, size_type cropColCount): Copy constructor & crop from another matrix

template<size_type ROWS, size_type COLS> inline explicit CMatrixDynamic(const CMatrixFixed<T, ROWS, COLS> &o): Constructor from fixed-size matrix:

template<typename V, std::size_t N> inline CMatrixDynamic(size_type row, size_type col, V (&theArray)[N])

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);

template<typename V> inline CMatrixDynamic(size_type row, size_type col, const V &theVector): 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.

virtual ~CMatrixDynamic() = default

template<class MAT> inline void setFromMatrixLike(const MAT &m)

CMatrixDynamic &operator=(const CMatrixDynamic<T> &m) = default

template<typename U> inline CMatrixDynamic &operator=(const CMatrixDynamic<U> &m): Assignment operator from another matrix (possibly of a different type)

template<class Derived> inline CMatrixDynamic &operator=(const Eigen::MatrixBase<Derived> &m): Assignment from an Eigen matrix

template<size_type ROWS, size_type COLS> inline CMatrixDynamic &operator=(const CMatrixFixed<T, ROWS, COLS> &m): Assignment from a fixed matrix

template<typename V, size_t N> inline CMatrixDynamic &operator=(V (&theArray)[N])

Assignment operator for initializing from a C array (The matrix must be set to the correct size before invoking this assignment)

   CMatrixDouble   M(3,2);
const double numbers[] = {
  1,2,3,
  4,5,6 };
M = numbers;

Refer also to the constructor with initialization data CMatrixDynamic::CMatrixDynamic

inline CMatrixDynamic(CMatrixDynamic &&m): Move ctor

inline CMatrixDynamic &operator=(CMatrixDynamic &&m): Move operator

inline size_type rows() const

Number of rows in the matrix

See also

rows()

inline size_type cols() const

Number of columns in the matrix

See also

rows()

inline matrix_size_t size() const: Get a 2-vector with [NROWS NCOLS] (as in MATLAB command size(x))

inline void setSize(size_type row, size_type col, bool zeroNewElements = false): Changes the size of matrix, maintaining the previous contents.

inline void resize(size_type row, size_type col)

inline void resize(size_type vectorLen): Resizes as a Nx1 vector

inline void resize(const matrix_size_t &siz, bool zeroNewElements = false): Resize the matrix

inline CMatrixDynamic &derived()

inline const CMatrixDynamic &derived() const

inline void conservativeResize(size_type row, size_type col)

inline const T *data() const: Return raw pointer to row-major data buffer. All matrix cells can be assumed to be stored contiguously in memory, i.e. row stride = column count.

inline T *data(): This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

inline T &operator()(Index row, Index col): Subscript operator to get/set individual elements

inline const T &operator()(Index row, Index col) const: Subscript operator to get individual elements

inline T &operator[](Index ith)

Subscript operator to get/set an individual element from a row or column matrix.

Throws:: std::exception – If the object is not a column or row matrix.

inline const T &operator[](Index ith) const

Subscript operator to get/set an individual element from a row or column matrix. For non-vectors (NxM matrices), it returns the i-th matrix element, in RowMajor order.

Throws:: std::exception – If the object is not a column or row matrix.

template<typename VECTOR> inline void appendRow(const VECTOR &in)

Appends a new row to the MxN matrix from a 1xN vector. The length 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);
CVectorDouble  v(7),w(7);
// ...
M.appendRow(v);
M.appendRow(w);

See also

extractRow

See also

appendCol

Throws:: std::exception – On incorrect vector length.

template<typename VECTOR> inline void setRow(const Index row, const VECTOR &v)

template<typename VECTOR> inline void setCol(const Index col, const VECTOR &v)

template<typename VECTOR> inline void appendCol(const VECTOR &in)

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).

See also

extractCol

See also

appendRow

Throws:: std::exception – On size mismatch.

template<typename VECTOR> inline void asVector(VECTOR &out) const: Returns a vector containing the matrix’s values.

template<typename EIGEN_MATRIX = eigen_t, typename EIGEN_MAP = Eigen::Map<EIGEN_MATRIX, MRPT_MAX_ALIGN_BYTES, Eigen::InnerStride<1>>> inline EIGEN_MAP asEigen(): Get as an Eigen-compatible Eigen::Map object

template<typename EIGEN_MATRIX = eigen_t, typename EIGEN_MAP = Eigen::Map<const EIGEN_MATRIX, MRPT_MAX_ALIGN_BYTES, Eigen::InnerStride<1>>> inline EIGEN_MAP asEigen() const

CMatrixDynamic<float> cast_float() const

CMatrixDynamic<double> cast_double() const

CVectorDynamic<Scalar> llt_solve(const CVectorDynamic<Scalar> &b) const

Solves the linear system Ax=b, returns x, with A this symmetric matrix.

See also

lu_solve()

CVectorDynamic<Scalar> lu_solve(const CVectorDynamic<Scalar> &b) const

Solves the linear system Ax=b, returns x, with A this asymmetric matrix.

See also

llt_solve()