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

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 >
	Functor that implements multiplication of a vector b with the inverse of a matrix A. More...

struct	gtsam::MultiplyWithInverseFunction< T, N >
	Functor that implements multiplication with the inverse of a matrix, itself the result of a function f. More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

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)
	equals with a tolerance

bool	gtsam::operator== (const Matrix &A, const Matrix &B)
	equality is just equal_with_abs_tol 1e-9

bool	gtsam::operator!= (const Matrix &A, const Matrix &B)
	inequality

bool	gtsam::assert_equal (const Matrix &A, const Matrix &B, double tol=1e-9)
	equals with an tolerance, prints out message if unequal

bool	gtsam::assert_inequal (const Matrix &A, const Matrix &B, double tol=1e-9)
	inequals with an tolerance, prints out message if within tolerance

bool	gtsam::assert_equal (const std::list< Matrix > &As, const std::list< Matrix > &Bs, double tol=1e-9)
	equals with an tolerance, prints out message if unequal

bool	gtsam::linear_independent (const Matrix &A, const Matrix &B, double tol=1e-9)
	check whether the rows of two matrices are linear independent

bool	gtsam::linear_dependent (const Matrix &A, const Matrix &B, double tol=1e-9)
	check whether the rows of two matrices are linear dependent

Vector	gtsam::operator^ (const Matrix &A, const Vector &v)
	overload ^ for trans(A)*v We transpose the vectors for speed.

template<class MATRIX >
MATRIX	gtsam::prod (const MATRIX &A, const MATRIX &B)
	products using old-style format to improve compatibility

void	gtsam::print (const Matrix &A, const std::string &s, std::ostream &stream)
	print without optional string, must specify cout yourself

void	gtsam::print (const Matrix &A, const std::string &s="")
	print with optional string to cout

void	gtsam::save (const Matrix &A, const std::string &s, const std::string &filename)
	save a matrix to file, which can be loaded by matlab

istream &	gtsam::operator>> (std::istream &inputStream, Matrix &destinationMatrix)
	Read a matrix from an input stream, such as a file. More...

template<class MATRIX >
Eigen::Block< const MATRIX >	gtsam::sub (const MATRIX &A, size_t i1, size_t i2, size_t j1, size_t j2)
	extract submatrix, slice semantics, i.e. More...

template<typename Derived1 , typename Derived2 >
void	gtsam::insertSub (Eigen::MatrixBase< Derived1 > &fullMatrix, const Eigen::MatrixBase< Derived2 > &subMatrix, size_t i, size_t j)
	insert a submatrix IN PLACE at a specified location in a larger matrix NOTE: there is no size checking More...

Matrix	gtsam::diag (const std::vector< Matrix > &Hs)
	Create a matrix with submatrices along its diagonal.

template<class MATRIX >
const MATRIX::ConstColXpr	gtsam::column (const MATRIX &A, size_t j)
	Extracts a column view from a matrix that avoids a copy. More...

template<class MATRIX >
const MATRIX::ConstRowXpr	gtsam::row (const MATRIX &A, size_t j)
	Extracts a row view from a matrix that avoids a copy. More...

template<class MATRIX >
void	gtsam::zeroBelowDiagonal (MATRIX &A, size_t cols=0)
	Zeros all of the elements below the diagonal of a matrix, in place. More...

Matrix	gtsam::trans (const Matrix &A)
	static transpose function, just calls Eigen transpose member function

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)

pair< Matrix, Matrix >	gtsam::qr (const Matrix &A)
	Householder QR factorization, Golub & Van Loan p 224, explicit version More...

void	gtsam::inplace_QR (Matrix &A)
	QR factorization using Eigen's internal block QR algorithm. More...

list< boost::tuple< Vector, double, double > >	gtsam::weighted_eliminate (Matrix &A, Vector &b, const Vector &sigmas)
	Imperative algorithm for in-place full elimination with weights and constraint handling. More...

void	gtsam::householder_ (Matrix &A, size_t k, bool copy_vectors)
	Imperative version of Householder QR factorization, Golub & Van Loan p 224 version with Householder vectors below diagonal, as in GVL. More...

void	gtsam::householder (Matrix &A, size_t k)
	Householder tranformation, zeros below diagonal. More...

Vector	gtsam::backSubstituteUpper (const Matrix &U, const Vector &b, bool unit=false)
	backSubstitute U*x=b More...

Vector	gtsam::backSubstituteUpper (const Vector &b, const Matrix &U, bool unit=false)
	backSubstitute x'*U=b' More...

Vector	gtsam::backSubstituteLower (const Matrix &L, const Vector &b, bool unit=false)
	backSubstitute L*x=b More...

Matrix	gtsam::stack (size_t nrMatrices,...)
	create a matrix by stacking other matrices Given a set of matrices: A1, A2, A3... More...

Matrix	gtsam::stack (const std::vector< Matrix > &blocks)

Matrix	gtsam::collect (const std::vector< const Matrix * > &matrices, size_t m=0, size_t n=0)
	create a matrix by concatenating Given a set of matrices: A1, A2, A3... If all matrices have the same size, specifying single matrix dimensions will avoid the lookup of dimensions More...

Matrix	gtsam::collect (size_t nrMatrices,...)

void	gtsam::vector_scale_inplace (const Vector &v, Matrix &A, bool inf_mask=false)
	scales a matrix row or column by the values in a vector Arguments (Matrix, Vector) scales the columns, (Vector, Matrix) scales the rows More...

Matrix	gtsam::vector_scale (const Vector &v, const Matrix &A, bool inf_mask)

Matrix	gtsam::vector_scale (const Matrix &A, const Vector &v, bool inf_mask)

Matrix3	gtsam::skewSymmetric (double wx, double wy, double wz)
	skew symmetric matrix returns this: 0 -wz wy wz 0 -wx -wy wx 0 More...

template<class Derived >
Matrix3	gtsam::skewSymmetric (const Eigen::MatrixBase< Derived > &w)

Matrix	gtsam::inverse_square_root (const Matrix &A)
	Use Cholesky to calculate inverse square root of a matrix.

Matrix	gtsam::cholesky_inverse (const Matrix &A)
	Return the inverse of a S.P.D. More...

void	gtsam::svd (const Matrix &A, Matrix &U, Vector &S, Matrix &V)
	SVD computes economy SVD A=USV'. More...

boost::tuple< int, double, Vector >	gtsam::DLT (const Matrix &A, double rank_tol=1e-9)
	Direct linear transform algorithm that calls svd to find a vector v that minimizes the algebraic error A*v. More...

Matrix	gtsam::expm (const Matrix &A, size_t K=7)
	Numerical exponential map, naive approach, not industrial strength !!! More...

std::string	gtsam::formatMatrixIndented (const std::string &label, const Matrix &matrix, bool makeVectorHorizontal)

Matrix	gtsam::LLt (const Matrix &A)

Matrix	gtsam::RtR (const Matrix &A)

Vector	gtsam::columnNormSquare (const Matrix &A)

template<class Archive , typename Scalar_ , int Rows_, int Cols_, int Ops_, int MaxRows_, int MaxCols_>
void	boost::serialization::save (Archive &ar, const Eigen::Matrix< Scalar_, Rows_, Cols_, Ops_, MaxRows_, MaxCols_ > &m, const unsigned int)
	Ref. More...

template<class Archive , typename Scalar_ , int Rows_, int Cols_, int Ops_, int MaxRows_, int MaxCols_>
void	boost::serialization::load (Archive &ar, Eigen::Matrix< Scalar_, Rows_, Cols_, Ops_, MaxRows_, MaxCols_ > &m, const unsigned int)

template<class Archive , typename Scalar_ , int Rows_, int Cols_, int Ops_, int MaxRows_, int MaxCols_>
void	boost::serialization::serialize (Archive &ar, Eigen::Matrix< Scalar_, Rows_, Cols_, Ops_, MaxRows_, MaxCols_ > &m, const unsigned int version)

template<class Archive >
void	boost::serialization::serialize (Archive &ar, gtsam::Matrix &m, const unsigned int version)

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();

Function Documentation

◆ save()

template<class Archive , typename Scalar_ , int Rows_, int Cols_, int Ops_, int MaxRows_, int MaxCols_>

void boost::serialization::save	(	Archive &	ar,
		const Eigen::Matrix< Scalar_, Rows_, Cols_, Ops_, MaxRows_, MaxCols_ > &	m,
		const unsigned int
	)

Ref.

https://stackoverflow.com/questions/18382457/eigen-and-boostserialize/22903063#22903063

Eigen supports calling resize() on both static and dynamic matrices. This allows for a uniform API, with resize having no effect if the static matrix is already the correct size. https://eigen.tuxfamily.org/dox/group__TutorialMatrixClass.html#TutorialMatrixSizesResizing

We use all the Matrix template parameters to ensure wide compatibility.

eigen_typekit in ROS uses the same code http://docs.ros.org/lunar/api/eigen_typekit/html/eigen__mqueue_8cpp_source.html

Classes

Namespaces

Macros

Typedefs

Functions

Detailed Description

Macro Definition Documentation

◆ GTSAM_MAKE_MATRIX_DEFS

Function Documentation

◆ save()