gtsam 4.1.1
gtsam
Matrix.cpp File Reference

matrix class More...

Namespaces

namespace  gtsam
 Global functions in a separate testing namespace.
 

Functions

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.
 
const Eigen::IOFormat & gtsam::matlabFormat ()
 
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...
 
Matrix gtsam::diag (const std::vector< Matrix > &Hs)
 Create a matrix with submatrices along its diagonal.
 
Vector gtsam::columnNormSquare (const Matrix &A)
 
pair< Matrix, Matrix > gtsam::qr (const Matrix &A)
 Householder QR factorization, Golub & Van Loan p 224, explicit version
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::backSubstituteLower (const Matrix &L, const Vector &b, bool unit=false)
 backSubstitute L*x=b 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...
 
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)
 
Matrix gtsam::LLt (const Matrix &A)
 
Matrix gtsam::RtR (const Matrix &A)
 
Matrix gtsam::cholesky_inverse (const Matrix &A)
 Return the inverse of a S.P.D. More...
 
Matrix gtsam::inverse_square_root (const Matrix &A)
 Use Cholesky to calculate inverse square root of a matrix.
 
void gtsam::svd (const Matrix &A, Matrix &U, Vector &S, Matrix &V)
 SVD computes economy SVD A=U*S*V'. 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)
 
void gtsam::inplace_QR (Matrix &A)
 QR factorization using Eigen's internal block QR algorithm. More...
 

Detailed Description

matrix class

Author
Christian Potthast