Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
|
namespace for the matrix library More...
Classes | |
class | Matrix |
Matrix type. More... | |
class | SparseArray |
class | SparseMatrix |
sparse matrix which uses an HashTable first (fast implemented) version More... | |
Typedefs | |
typedef unsigned int | I |
type for matrix indices More... | |
typedef double | D |
type for matrix elements More... | |
typedef std::vector< Matrix > | Matrices |
Functions | |
int | cmpdouble (const void *a, const void *b) |
std::ostream & | operator<< (std::ostream &str, const Matrix &mat) |
gsl_matrix * | toGSL (const Matrix &src) |
copies our matrix into a gsl matrix (don't forget gsl_matrix_free) More... | |
Matrix | fromGSL (const gsl_matrix *src) |
copies gsl matrix to our matrix More... | |
Matrix | fromGSL (const gsl_vector *src) |
copies gsl vector to our matrix (column-vector) More... | |
Matrix | fromGSL_real (const gsl_matrix_complex *src) |
copies the real part of gsl matrix_complex to our matrix More... | |
Matrix | fromGSL_imag (const gsl_matrix_complex *src) |
copies the imag part of gsl matrix_complex to our matrix More... | |
Matrix | eigenValuesRealSym (const Matrix &m) |
calculates the eigenvalues of the real and symmetric matrix m and returns them as a column vector in descending order More... | |
bool | eigenValuesVectorsRealSym (const Matrix &m, Matrix &eigenvalues, Matrix &eigenvectors) |
calculates the eigenvalues and corresponding eigenvectors of the the real and symmetric matrix m. More... | |
bool | eigenValues (const Matrix &m, Matrix &vals_real, Matrix &vals_imag) |
calculates the eigenvalues of the matrix m and returns them as a column vectors seperated to real and imaginary part in descending order. More... | |
bool | eigenValuesVectors (const Matrix &m, Matrix &vals_real, Matrix &vals_imag, Matrix &vecs_real, Matrix &vecs_imag) |
calculates the eigenvalues and corresponding eigenvectors of the matrix m. More... | |
std::vector< int > | toPositiveSignEigenVectors (Matrix &vecs_real, Matrix &vecs_imag) |
flips the signs of the eigenvectors such that their first entry has positive real part. More... | |
double | __matutils_euklidlen (double a, double b) |
Matrix | scaleEigenVectorsWithValue (const Matrix &vals_real, const Matrix &vals_imag, Matrix &vecs_real, Matrix &vecs_imag) |
scales the eigenvectors with the absolute value of the eigenvalues. More... | |
Variables | |
const int | T = 0xFF |
integer constant for use with exp function and (^) operator to transpose the matrix More... | |
namespace for the matrix library
Array which uses an HashTable for elements stored in this array.
Can be used as an base class of SparseMatrix. first (fast implemented) version.
typedef double D |
type for matrix elements
typedef unsigned int I |
type for matrix indices
double matrix::__matutils_euklidlen | ( | double | a, |
double | b | ||
) |
int matrix::cmpdouble | ( | const void * | a, |
const void * | b | ||
) |
bool eigenValues | ( | const Matrix & | m, |
Matrix & | real, | ||
Matrix & | imag | ||
) |
calculates the eigenvalues of the matrix m and returns them as a column vectors seperated to real and imaginary part in descending order.
Matrix eigenValuesRealSym | ( | const Matrix & | m | ) |
calculates the eigenvalues of the real and symmetric matrix m and returns them as a column vector in descending order
bool eigenValuesVectors | ( | const Matrix & | m, |
Matrix & | vals_real, | ||
Matrix & | vals_imag, | ||
Matrix & | vecs_real, | ||
Matrix & | vecs_imag | ||
) |
calculates the eigenvalues and corresponding eigenvectors of the matrix m.
The eigenvalues are returned them as a column vector in descending order and the belonging eigenvectors are stored in the columns of the matrix eigenvectors. Both are seperated into real and imaginary part.
bool eigenValuesVectorsRealSym | ( | const Matrix & | m, |
Matrix & | eigenvalues, | ||
Matrix & | eigenvectors | ||
) |
calculates the eigenvalues and corresponding eigenvectors of the the real and symmetric matrix m.
The eigenvalues are returned them as a column vector in descending order and the belonging eigenvectors are stored in the columns of the matrix eigenvectors.
Matrix fromGSL | ( | const gsl_matrix * | src | ) |
copies gsl matrix to our matrix
Matrix fromGSL | ( | const gsl_vector * | src | ) |
copies gsl vector to our matrix (column-vector)
Matrix fromGSL_imag | ( | const gsl_matrix_complex * | src | ) |
copies the imag part of gsl matrix_complex to our matrix
Matrix fromGSL_real | ( | const gsl_matrix_complex * | src | ) |
copies the real part of gsl matrix_complex to our matrix
std::ostream& matrix::operator<< | ( | std::ostream & | str, |
const Matrix & | mat | ||
) |
Matrix scaleEigenVectorsWithValue | ( | const Matrix & | vals_real, |
const Matrix & | vals_imag, | ||
Matrix & | vecs_real, | ||
Matrix & | vecs_imag | ||
) |
scales the eigenvectors with the absolute value of the eigenvalues.
returns vector with factors
gsl_matrix * toGSL | ( | const Matrix & | src | ) |
copies our matrix into a gsl matrix (don't forget gsl_matrix_free)
std::vector< int > toPositiveSignEigenVectors | ( | Matrix & | vecs_real, |
Matrix & | vecs_imag | ||
) |
flips the signs of the eigenvectors such that their first entry has positive real part.
If the first entry is very small the first no-vanishing entry is used. The eigenvectors are assumed to be columnwise (as returned by eigenValues() etc). Returns the original signs (1 or -1 per column)
const int T = 0xFF |
integer constant for use with exp function and (^) operator to transpose the matrix