gtsam 4.1.1 gtsam
Vector.h
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1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
9
10 * -------------------------------------------------------------------------- */
11
21// \callgraph
22
23#pragma once
24#ifndef MKL_BLAS
25#define MKL_BLAS MKL_DOMAIN_BLAS
26#endif
27
29#include <Eigen/Core>
30#include <iosfwd>
31#include <list>
32
33namespace gtsam {
34
35// Vector is just a typedef of the Eigen dynamic vector type
36
37// Typedef arbitary length vector
38typedef Eigen::VectorXd Vector;
39
40// Commonly used fixed size vectors
41typedef Eigen::Matrix<double, 1, 1> Vector1;
42typedef Eigen::Vector2d Vector2;
43typedef Eigen::Vector3d Vector3;
44
45static const Eigen::MatrixBase<Vector2>::ConstantReturnType Z_2x1 = Vector2::Zero();
46static const Eigen::MatrixBase<Vector3>::ConstantReturnType Z_3x1 = Vector3::Zero();
47
48// Create handy typedefs and constants for vectors with N>3
49// VectorN and Z_Nx1, for N=1..9
50#define GTSAM_MAKE_VECTOR_DEFS(N) \
51 using Vector##N = Eigen::Matrix<double, N, 1>; \
52 static const Eigen::MatrixBase<Vector##N>::ConstantReturnType Z_##N##x1 = Vector##N::Zero();
53
54GTSAM_MAKE_VECTOR_DEFS(4)
55GTSAM_MAKE_VECTOR_DEFS(5)
56GTSAM_MAKE_VECTOR_DEFS(6)
57GTSAM_MAKE_VECTOR_DEFS(7)
58GTSAM_MAKE_VECTOR_DEFS(8)
59GTSAM_MAKE_VECTOR_DEFS(9)
60GTSAM_MAKE_VECTOR_DEFS(10)
61GTSAM_MAKE_VECTOR_DEFS(11)
62GTSAM_MAKE_VECTOR_DEFS(12)
63
64typedef Eigen::VectorBlock<Vector> SubVector;
65typedef Eigen::VectorBlock<const Vector> ConstSubVector;
66
72#if defined(GTSAM_EIGEN_VERSION_WORLD)
73static_assert(
74 GTSAM_EIGEN_VERSION_WORLD==EIGEN_WORLD_VERSION &&
75 GTSAM_EIGEN_VERSION_MAJOR==EIGEN_MAJOR_VERSION,
76 "Error: GTSAM was built against a different version of Eigen");
77#endif
78
95GTSAM_EXPORT bool fpEqual(double a, double b, double tol,
96 bool check_relative_also = true);
97
101GTSAM_EXPORT void print(const Vector& v, const std::string& s, std::ostream& stream);
102
106GTSAM_EXPORT void print(const Vector& v, const std::string& s = "");
107
111GTSAM_EXPORT void save(const Vector& A, const std::string &s, const std::string& filename);
112
116GTSAM_EXPORT bool operator==(const Vector& vec1,const Vector& vec2);
117
123GTSAM_EXPORT bool greaterThanOrEqual(const Vector& v1, const Vector& v2);
124
128GTSAM_EXPORT bool equal_with_abs_tol(const Vector& vec1, const Vector& vec2, double tol=1e-9);
129GTSAM_EXPORT bool equal_with_abs_tol(const SubVector& vec1, const SubVector& vec2, double tol=1e-9);
130
134inline bool equal(const Vector& vec1, const Vector& vec2, double tol) {
135 return equal_with_abs_tol(vec1, vec2, tol);
136}
137
141inline bool equal(const Vector& vec1, const Vector& vec2) {
142 return equal_with_abs_tol(vec1, vec2);
143}
144
152GTSAM_EXPORT bool assert_equal(const Vector& vec1, const Vector& vec2, double tol=1e-9);
153
161GTSAM_EXPORT bool assert_inequal(const Vector& vec1, const Vector& vec2, double tol=1e-9);
162
170GTSAM_EXPORT bool assert_equal(const SubVector& vec1, const SubVector& vec2, double tol=1e-9);
171GTSAM_EXPORT bool assert_equal(const ConstSubVector& vec1, const ConstSubVector& vec2, double tol=1e-9);
172
180GTSAM_EXPORT bool linear_dependent(const Vector& vec1, const Vector& vec2, double tol=1e-9);
181
188GTSAM_EXPORT Vector ediv_(const Vector &a, const Vector &b);
189
193template<class V1, class V2>
194inline double dot(const V1 &a, const V2& b) {
195 assert (b.size()==a.size());
196 return a.dot(b);
197}
198
200template<class V1, class V2>
201inline double inner_prod(const V1 &a, const V2& b) {
202 assert (b.size()==a.size());
203 return a.dot(b);
204}
205
210inline void GTSAM_DEPRECATED scal(double alpha, Vector& x) { x *= alpha; }
211
216template<class V1, class V2>
217inline void GTSAM_DEPRECATED axpy(double alpha, const V1& x, V2& y) {
218 assert (y.size()==x.size());
219 y += alpha * x;
220}
221inline void axpy(double alpha, const Vector& x, SubVector y) {
222 assert (y.size()==x.size());
223 y += alpha * x;
224}
225
231GTSAM_EXPORT std::pair<double,Vector> house(const Vector &x);
232
234GTSAM_EXPORT double houseInPlace(Vector &x);
235
246GTSAM_EXPORT std::pair<Vector, double>
247weightedPseudoinverse(const Vector& v, const Vector& weights);
248
249/*
250 * Fast version *no error checking* !
251 * Pass in initialized vector pseudo of size(weights) or will crash !
252 * @return the precision, pseudoinverse in third argument
253 */
254GTSAM_EXPORT double weightedPseudoinverse(const Vector& a, const Vector& weights, Vector& pseudo);
255
259GTSAM_EXPORT Vector concatVectors(const std::list<Vector>& vs);
260
264GTSAM_EXPORT Vector concatVectors(size_t nrVectors, ...);
265} // namespace gtsam
266
267#include <boost/serialization/nvp.hpp>
268#include <boost/serialization/array.hpp>
269#include <boost/serialization/split_free.hpp>
270
271namespace boost {
272 namespace serialization {
273
274 // split version - copies into an STL vector for serialization
275 template<class Archive>
276 void save(Archive & ar, const gtsam::Vector & v, unsigned int /*version*/) {
277 const size_t size = v.size();
278 ar << BOOST_SERIALIZATION_NVP(size);
279 ar << make_nvp("data", make_array(v.data(), v.size()));
280 }
281
282 template<class Archive>
283 void load(Archive & ar, gtsam::Vector & v, unsigned int /*version*/) {
284 size_t size;
285 ar >> BOOST_SERIALIZATION_NVP(size);
286 v.resize(size);
287 ar >> make_nvp("data", make_array(v.data(), v.size()));
288 }
289
290 // split version - copies into an STL vector for serialization
291 template<class Archive, int D>
292 void save(Archive & ar, const Eigen::Matrix<double,D,1> & v, unsigned int /*version*/) {
293 ar << make_nvp("data", make_array(v.data(), v.RowsAtCompileTime));
294 }
295
296 template<class Archive, int D>
297 void load(Archive & ar, Eigen::Matrix<double,D,1> & v, unsigned int /*version*/) {
298 ar >> make_nvp("data", make_array(v.data(), v.RowsAtCompileTime));
299 }
300
301 } // namespace serialization
302} // namespace boost
303
304BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector)
305BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector2)
306BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector3)
307BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector6)
Included from all GTSAM files.
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
Vector ediv_(const Vector &a, const Vector &b)
elementwise division, but 0/0 = 0, not inf
Definition: Vector.cpp:199
bool greaterThanOrEqual(const Vector &vec1, const Vector &vec2)
Greater than or equal to operation returns true if all elements in v1 are greater than corresponding ...
Definition: Vector.cpp:114
void save(const Matrix &A, const string &s, const string &filename)
save a matrix to file, which can be loaded by matlab
Definition: Matrix.cpp:166
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
equals with an tolerance, prints out message if unequal
Definition: Matrix.cpp:42
bool linear_dependent(const Matrix &A, const Matrix &B, double tol)
check whether the rows of two matrices are linear dependent
Definition: Matrix.cpp:116
double inner_prod(const V1 &a, const V2 &b)
compatibility version for ublas' inner_prod()
Definition: Vector.h:201
void print(const Matrix &A, const string &s, ostream &stream)
print without optional string, must specify cout yourself
Definition: Matrix.cpp:155
bool assert_inequal(const Matrix &A, const Matrix &B, double tol)
inequals with an tolerance, prints out message if within tolerance
Definition: Matrix.cpp:62
void GTSAM_DEPRECATED scal(double alpha, Vector &x)
BLAS Level 1 scal: x <- alpha*x.
Definition: Vector.h:210
double houseInPlace(Vector &v)
beta = house(x) computes the HouseHolder vector in place
Definition: Vector.cpp:212
bool equal(const T &obj1, const T &obj2, double tol)
Call equal on the object.
Definition: Testable.h:84
double dot(const V1 &a, const V2 &b)
Dot product.
Definition: Vector.h:194
bool fpEqual(double a, double b, double tol, bool check_relative_also)
Ensure we are not including a different version of Eigen in user code than while compiling gtsam,...
Definition: Vector.cpp:42
Vector concatVectors(const std::list< Vector > &vs)
concatenate Vectors
Definition: Vector.cpp:302
bool equal_with_abs_tol(const Eigen::DenseBase< MATRIX > &A, const Eigen::DenseBase< MATRIX > &B, double tol=1e-9)
equals with a tolerance
Definition: Matrix.h:84
void GTSAM_DEPRECATED axpy(double alpha, const V1 &x, V2 &y)
BLAS Level 1 axpy: y <- alpha*x + y.
Definition: Vector.h:217
pair< double, Vector > house(const Vector &x)
house(x,j) computes HouseHolder vector v and scaling factor beta from x, such that the corresponding ...
Definition: Vector.cpp:237
bool operator==(const Matrix &A, const Matrix &B)
equality is just equal_with_abs_tol 1e-9
Definition: Matrix.h:103