Matrix.h File Reference

typedef and functions to augment Eigen's MatrixXd More...

#include <gtsam/base/OptionalJacobian.h>
#include <gtsam/base/Vector.h>
#include <vector>

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Classes
struct	gtsam::Reshape< OutM, OutN, OutOptions, InM, InN, InOptions >
	Reshape functor. More...
struct	gtsam::Reshape< M, M, InOptions, M, M, InOptions >
	Reshape specialization that does nothing as shape stays the same (needed to not be ambiguous for square input equals square output) More...
struct	gtsam::Reshape< M, N, InOptions, M, N, InOptions >
	Reshape specialization that does nothing as shape stays the same. More...
struct	gtsam::Reshape< N, M, InOptions, M, N, InOptions >
	Reshape specialization that does transpose. More...
struct	gtsam::MultiplyWithInverse< N >
struct	gtsam::MultiplyWithInverseFunction< T, N >

Namespaces
	gtsam

Macros
#define	GTSAM_MAKE_MATRIX_DEFS(N)

Typedefs
typedef Eigen::MatrixXd	gtsam::Matrix
typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	gtsam::MatrixRowMajor
typedef Eigen::Block< Matrix >	gtsam::SubMatrix
typedef Eigen::Block< const Matrix >	gtsam::ConstSubMatrix

Functions
const Eigen::IOFormat &	gtsam::matlabFormat ()
template<class MATRIX >
bool	gtsam::equal_with_abs_tol (const Eigen::DenseBase< MATRIX > &A, const Eigen::DenseBase< MATRIX > &B, double tol=1e-9)
bool	gtsam::operator== (const Matrix &A, const Matrix &B)
bool	gtsam::operator!= (const Matrix &A, const Matrix &B)
GTSAM_EXPORT bool	gtsam::assert_equal (const Matrix &A, const Matrix &B, double tol=1e-9)
GTSAM_EXPORT bool	gtsam::assert_inequal (const Matrix &A, const Matrix &B, double tol=1e-9)
GTSAM_EXPORT bool	gtsam::assert_equal (const std::list< Matrix > &As, const std::list< Matrix > &Bs, double tol=1e-9)
GTSAM_EXPORT bool	gtsam::linear_independent (const Matrix &A, const Matrix &B, double tol=1e-9)
GTSAM_EXPORT bool	gtsam::linear_dependent (const Matrix &A, const Matrix &B, double tol=1e-9)
GTSAM_EXPORT Vector	gtsam::operator^ (const Matrix &A, const Vector &v)
template<class MATRIX >
MATRIX	gtsam::prod (const MATRIX &A, const MATRIX &B)
GTSAM_EXPORT void	gtsam::print (const Matrix &A, const std::string &s, std::ostream &stream)
GTSAM_EXPORT void	gtsam::print (const Matrix &A, const std::string &s="")
GTSAM_EXPORT void	gtsam::save (const Matrix &A, const std::string &s, const std::string &filename)
GTSAM_EXPORT std::istream &	gtsam::operator>> (std::istream &inputStream, Matrix &destinationMatrix)
template<class MATRIX >
Eigen::Block< const MATRIX >	gtsam::sub (const MATRIX &A, size_t i1, size_t i2, size_t j1, size_t j2)
template<typename Derived1 , typename Derived2 >
void	gtsam::insertSub (Eigen::MatrixBase< Derived1 > &fullMatrix, const Eigen::MatrixBase< Derived2 > &subMatrix, size_t i, size_t j)
GTSAM_EXPORT Matrix	gtsam::diag (const std::vector< Matrix > &Hs)
template<class MATRIX >
const MATRIX::ConstColXpr	gtsam::column (const MATRIX &A, size_t j)
template<class MATRIX >
const MATRIX::ConstRowXpr	gtsam::row (const MATRIX &A, size_t j)
template<class MATRIX >
void	gtsam::zeroBelowDiagonal (MATRIX &A, size_t cols=0)
Matrix	gtsam::trans (const Matrix &A)
template<int OutM, int OutN, int OutOptions, int InM, int InN, int InOptions>
Reshape< OutM, OutN, OutOptions, InM, InN, InOptions >::ReshapedType	gtsam::reshape (const Eigen::Matrix< double, InM, InN, InOptions > &m)
GTSAM_EXPORT std::pair< Matrix, Matrix >	gtsam::qr (const Matrix &A)
GTSAM_EXPORT void	gtsam::inplace_QR (Matrix &A)
GTSAM_EXPORT std::list< std::tuple< Vector, double, double > >	gtsam::weighted_eliminate (Matrix &A, Vector &b, const Vector &sigmas)
GTSAM_EXPORT void	gtsam::householder_ (Matrix &A, size_t k, bool copy_vectors=true)
GTSAM_EXPORT void	gtsam::householder (Matrix &A, size_t k)
GTSAM_EXPORT Vector	gtsam::backSubstituteUpper (const Matrix &U, const Vector &b, bool unit=false)
GTSAM_EXPORT Vector	gtsam::backSubstituteUpper (const Vector &b, const Matrix &U, bool unit=false)
GTSAM_EXPORT Vector	gtsam::backSubstituteLower (const Matrix &L, const Vector &b, bool unit=false)
GTSAM_EXPORT Matrix	gtsam::stack (size_t nrMatrices,...)
GTSAM_EXPORT Matrix	gtsam::stack (const std::vector< Matrix > &blocks)
GTSAM_EXPORT Matrix	gtsam::collect (const std::vector< const Matrix *> &matrices, size_t m=0, size_t n=0)
GTSAM_EXPORT Matrix	gtsam::collect (size_t nrMatrices,...)
GTSAM_EXPORT void	gtsam::vector_scale_inplace (const Vector &v, Matrix &A, bool inf_mask=false)
GTSAM_EXPORT Matrix	gtsam::vector_scale (const Vector &v, const Matrix &A, bool inf_mask=false)
GTSAM_EXPORT Matrix	gtsam::vector_scale (const Matrix &A, const Vector &v, bool inf_mask=false)
Matrix3	gtsam::skewSymmetric (double wx, double wy, double wz)
template<class Derived >
Matrix3	gtsam::skewSymmetric (const Eigen::MatrixBase< Derived > &w)
GTSAM_EXPORT Matrix	gtsam::inverse_square_root (const Matrix &A)
GTSAM_EXPORT Matrix	gtsam::cholesky_inverse (const Matrix &A)
GTSAM_EXPORT void	gtsam::svd (const Matrix &A, Matrix &U, Vector &S, Matrix &V)
GTSAM_EXPORT std::tuple< int, double, Vector >	gtsam::DLT (const Matrix &A, double rank_tol=1e-9)
GTSAM_EXPORT Matrix	gtsam::expm (const Matrix &A, size_t K=7)
std::string	gtsam::formatMatrixIndented (const std::string &label, const Matrix &matrix, bool makeVectorHorizontal=false)
GTSAM_EXPORT Matrix	gtsam::LLt (const Matrix &A)
GTSAM_EXPORT Matrix	gtsam::RtR (const Matrix &A)
GTSAM_EXPORT Vector	gtsam::columnNormSquare (const Matrix &A)

Detailed Description

typedef and functions to augment Eigen's MatrixXd

Author

Christian Potthast

Kai Ni

Frank Dellaert

Alex Cunningham

Alex Hagiopol

Varun Agrawal

Macro Definition Documentation

GTSAM_MAKE_MATRIX_DEFS

#define GTSAM_MAKE_MATRIX_DEFS

(

N

)

Value:

using Matrix##N = Eigen::Matrix<double, N, N>;  \
using Matrix1##N = Eigen::Matrix<double, 1, N>;  \
using Matrix2##N = Eigen::Matrix<double, 2, N>;  \
using Matrix3##N = Eigen::Matrix<double, 3, N>;  \
using Matrix4##N = Eigen::Matrix<double, 4, N>;  \
using Matrix5##N = Eigen::Matrix<double, 5, N>;  \
using Matrix6##N = Eigen::Matrix<double, 6, N>;  \
using Matrix7##N = Eigen::Matrix<double, 7, N>;  \
using Matrix8##N = Eigen::Matrix<double, 8, N>;  \
using Matrix9##N = Eigen::Matrix<double, 9, N>;  \
static const Eigen::MatrixBase<Matrix##N>::IdentityReturnType I_##N##x##N = Matrix##N::Identity(); \
static const Eigen::MatrixBase<Matrix##N>::ConstantReturnType Z_##N##x##N = Matrix##N::Zero();