Vector.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */

 
// \callgraph
 
#pragma once
#ifndef MKL_BLAS
#define MKL_BLAS MKL_DOMAIN_BLAS
#endif
 
#include <gtsam/global_includes.h>
#include <Eigen/Core>
#include <iosfwd>
#include <list>
 
namespace gtsam {
 
// Vector is just a typedef of the Eigen dynamic vector type
 
// Typedef arbitary length vector
typedef Eigen::VectorXd Vector;
 
// Commonly used fixed size vectors
typedef Eigen::Matrix<double, 1, 1> Vector1;
typedef Eigen::Vector2d Vector2;
typedef Eigen::Vector3d Vector3;
using Vector4 = Eigen::Matrix<double, 4, 1>;
using Vector5 = Eigen::Matrix<double, 5, 1>;
using Vector6 = Eigen::Matrix<double, 6, 1>;
using Vector7 = Eigen::Matrix<double, 7, 1>;
using Vector8 = Eigen::Matrix<double, 8, 1>;
using Vector9 = Eigen::Matrix<double, 9, 1>;
using Vector10 = Eigen::Matrix<double, 10, 1>;
using Vector11 = Eigen::Matrix<double, 11, 1>;
using Vector12 = Eigen::Matrix<double, 12, 1>;
using Vector15 = Eigen::Matrix<double, 15, 1>;
 
typedef Eigen::VectorBlock<Vector> SubVector;
typedef Eigen::VectorBlock<const Vector> ConstSubVector;

#if defined(GTSAM_EIGEN_VERSION_WORLD)
static_assert(
    GTSAM_EIGEN_VERSION_WORLD==EIGEN_WORLD_VERSION &&
    GTSAM_EIGEN_VERSION_MAJOR==EIGEN_MAJOR_VERSION,
  "Error: GTSAM was built against a different version of Eigen");
#endif

GTSAM_EXPORT bool fpEqual(double a, double b, double tol,
                          bool check_relative_also = true);

GTSAM_EXPORT void print(const Vector& v, const std::string& s, std::ostream& stream);

GTSAM_EXPORT void print(const Vector& v, const std::string& s = "");

GTSAM_EXPORT void save(const Vector& A, const std::string &s, const std::string& filename);
 
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V43
GTSAM_EXPORT bool operator==(const Vector& vec1, const Vector& vec2);

GTSAM_EXPORT bool greaterThanOrEqual(const Vector& v1, const Vector& v2);
#endif

GTSAM_EXPORT bool equal_with_abs_tol(const Vector& vec1, const Vector& vec2, double tol=1e-9);
GTSAM_EXPORT bool equal_with_abs_tol(const SubVector& vec1, const SubVector& vec2, double tol=1e-9);

inline bool equal(const Vector& vec1, const Vector& vec2, double tol) {
  return equal_with_abs_tol(vec1, vec2, tol);
}

inline bool equal(const Vector& vec1, const Vector& vec2) {
  return equal_with_abs_tol(vec1, vec2);
}

GTSAM_EXPORT bool assert_equal(const Vector& vec1, const Vector& vec2, double tol=1e-9);

GTSAM_EXPORT bool assert_inequal(const Vector& vec1, const Vector& vec2, double tol=1e-9);

GTSAM_EXPORT bool assert_equal(const SubVector& vec1, const SubVector& vec2, double tol=1e-9);
GTSAM_EXPORT bool assert_equal(const ConstSubVector& vec1, const ConstSubVector& vec2, double tol=1e-9);

GTSAM_EXPORT bool linear_dependent(const Vector& vec1, const Vector& vec2, double tol=1e-9);

GTSAM_EXPORT Vector ediv_(const Vector &a, const Vector &b);

template<class V1, class V2>
inline double dot(const V1 &a, const V2& b) {
  return a.dot(b);
}
 
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V43
template<class V1, class V2>
inline double inner_prod(const V1 &a, const V2& b) {
  return a.dot(b);
}
#endif

GTSAM_EXPORT std::pair<double,Vector> house(const Vector &x);

GTSAM_EXPORT double houseInPlace(Vector &x);

GTSAM_EXPORT std::pair<Vector, double>
weightedPseudoinverse(const Vector& v, const Vector& weights);
 
/*
 * Fast version *no error checking* !
 * Pass in initialized vector pseudo of size(weights) or will crash !
 * @return the precision, pseudoinverse in third argument
 */
GTSAM_EXPORT double weightedPseudoinverse(const Vector& a, const Vector& weights, Vector& pseudo);

GTSAM_EXPORT Vector concatVectors(const std::list<Vector>& vs);
 
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V43
GTSAM_EXPORT Vector concatVectors(size_t nrVectors, ...);
#endif
}  // namespace gtsam