A general matrix class. More...

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Inheritance diagram for fawkes::Matrix:

Public Member Functions
	Matrix (unsigned int num_rows=0, unsigned int num_cols=0, float *data=0, bool manage_own_memory=true)
	Constructor.
	Matrix (const Matrix &tbc)
	Copy-constructor.
	~Matrix ()
	Destructor.
void	size (unsigned int &num_rows, unsigned int &num_cols) const
	Determines the dimensions of the matrix.
unsigned int	num_rows () const
	Return the number of rows in the Matrix.
unsigned int	num_cols () const
	Return the number of columns in the Matrix.
Matrix &	id ()
	Sets the diagonal elements to 1.0 and all other to 0.0.
Matrix &	transpose ()
	Transposes the matrix.
Matrix	get_transpose () const
	Computes a matrix that is the transposed of this matrix.
Matrix &	invert ()
	Inverts the matrix.
Matrix	get_inverse () const
	Computes a matrix that is the inverse of this matrix.
float	det () const
	Computes the determinant of the matrix.
const float *	get_data () const
	Returns the const data pointer.
float *	get_data ()
	Returns the data pointer.
Matrix	get_submatrix (unsigned int row, unsigned int col, unsigned int num_rows, unsigned int num_cols) const
	Returns a submatrix of the matrix.
void	overlay (unsigned int row, unsigned int col, const Matrix &m)
	Overlays another matrix over this matrix.
float	operator() (unsigned int row, unsigned int col) const
	(Read-only) Access-operator.
float &	operator() (unsigned int row, unsigned int col)
	(RW) Access operator.
Matrix &	operator= (const Matrix &rhs)
	Assignment operator.
Matrix	operator* (const Matrix &rhs) const
	Matrix multiplication operator.
Matrix &	operator*= (const Matrix &rhs)
	Combined matrix-multipliation and assignement operator.
Vector	operator* (const Vector &cv) const
	Multiply the matrix with given vector.
Matrix	operator* (const float &f) const
	Mulitply every element of the matrix with the given scalar.
Matrix &	operator*= (const float &f)
	Combined scalar multiplication and assignment operator.
Matrix	operator/ (const float &f) const
	Divide every element of the matrix with the given scalar.
Matrix &	operator/= (const float &f)
	Combined scalar division and assignment operator.
Matrix	operator+ (const Matrix &rhs) const
	Addition operator.
Matrix &	operator+= (const Matrix &rhs)
	Add-assign operator.
Matrix	operator- (const Matrix &rhs) const
	Subtraction operator.
Matrix &	operator-= (const Matrix &rhs)
	Subtract-assign operator.
bool	operator== (const Matrix &rhs) const
	Comparison operator.
void	print_info (const char name=0, const char col_sep=0, const char *row_sep=0) const
	Print matrix to standard out.

Static Public Member Functions
static Matrix	get_id (unsigned int size, float *data_buffer=0)
	Creates a quadratic matrix with dimension size and sets the diagonal elements to 1.0.
static Matrix	get_diag (unsigned int size, float value, float *data_buffer=0)
	Creates a quadratic matrix with dimension size and sets the diagonal elements to value.

Detailed Description

A general matrix class.

It provides all the operations that are commonly used with a matrix, but has been optimized with typical robotic applications in mind. That meas especially that the chose data type is single-precision float and the class has been optimized for small matrices (up to about 10x10).

Author:: Daniel Beck; Masrur Doostdar; Christof Rath

Definition at line 33 of file matrix.h.

Constructor & Destructor Documentation

fawkes::Matrix::Matrix	(	unsigned int	num_rows = `0`,
		unsigned int	num_cols = `0`,
		float *	data = `0`,
		bool	manage_own_memory = `true`
	)

Constructor.

Parameters:

num_rows	number of rows
num_cols	number of columns
data	array containing elements of the matrix in row-by-row-order
manage_own_memory	if true, the Matrix will manage its memory on its own, else it will not allocate new memory but works with the provided array

Definition at line 102 of file matrix.cpp.

References num_cols(), and num_rows().

Referenced by firevision::CCDCalibration::CCDCalibration().

fawkes::Matrix::Matrix ( const Matrix & tbc )

Copy-constructor.

Parameters:

tbc	matrix to be copied

Definition at line 138 of file matrix.cpp.

fawkes::Matrix::~Matrix ( )

Destructor.

Definition at line 151 of file matrix.cpp.

Member Function Documentation

float fawkes::Matrix::det ( ) const

Computes the determinant of the matrix.

Returns:: the determinant

Definition at line 374 of file matrix.cpp.

const float * fawkes::Matrix::get_data ( ) const

inline

Returns the const data pointer.

Returns:: the data pointer

Definition at line 57 of file matrix.h.

Referenced by get_submatrix(), get_transpose(), operator*(), operator+(), operator+=(), operator-(), operator-=(), operator/(), and operator==().

float * fawkes::Matrix::get_data ( )

inline

Returns the data pointer.

Returns:: the data pointer

Definition at line 58 of file matrix.h.

Matrix fawkes::Matrix::get_diag	(	unsigned int	size,
		float	value,
		float *	data_buffer = `0`
	)

static

Creates a quadratic matrix with dimension size and sets the diagonal elements to value.

All other elements are set to 0.0.

Parameters:

size	dimension of the matrix
value	of the elements of the main diagonal
data_buffer	if != NULL the given float array will be used as data internal data store (the object will not perform any memory management in this case)

Returns:: the diag matrix object

Definition at line 207 of file matrix.cpp.

References size().

Referenced by get_id().

Matrix fawkes::Matrix::get_id	(	unsigned int	size,
		float *	data_buffer = `0`
	)

static

Creates a quadratic matrix with dimension size and sets the diagonal elements to 1.0.

All other elements are set to 0.0.

Parameters:

size	dimension of the matrix
data_buffer	if != NULL the given float array will be used as data internal data store (the object will not perform any memory management in this case)

Returns:: the id matrix object

Definition at line 193 of file matrix.cpp.

References get_diag().

Referenced by invert().

Matrix fawkes::Matrix::get_inverse ( ) const

Computes a matrix that is the inverse of this matrix.

Returns:: a matrix that is the inverse of this matrix

Definition at line 362 of file matrix.cpp.

References invert().

Matrix fawkes::Matrix::get_submatrix	(	unsigned int	row,
		unsigned int	col,
		unsigned int	num_rows,
		unsigned int	num_cols
	)		const

Returns a submatrix of the matrix.

Parameters:

row	the row in the original matrix of the top-left element in the submatrix
col	the column in the original matrix of the top-left element in the submatrix
num_rows	the number of rows of the submatrix
num_cols	the number of columns of the submatrix

Returns:: the submatrix

Definition at line 415 of file matrix.cpp.

References get_data(), num_cols(), and num_rows().

Referenced by firevision::ProjectiveCam::get_GPA_p(), fawkes::HomTransform::invert(), firevision::Calibration::K(), and firevision::ProjectiveCam::set_location().

Matrix fawkes::Matrix::get_transpose ( ) const

Computes a matrix that is the transposed of this matrix.

Returns:: a matrix that is the transposed of this matrix

Definition at line 294 of file matrix.cpp.

References get_data().

Matrix & fawkes::Matrix::id ( )

Sets the diagonal elements to 1.0 and all other to 0.0.

Returns:: a reference to the matrix object

Definition at line 172 of file matrix.cpp.

References num_cols(), and num_rows().

Referenced by firevision::Calibration::Calibration(), fawkes::HomTransform::HomTransform(), firevision::Calibration::K(), and fawkes::HomTransform::reset().

Matrix & fawkes::Matrix::invert ( )

Inverts the matrix.

The algorithm that is implemented for computing the inverse of the matrix is the Gauss-Jordan-Algorithm. Hereby, the block- matrix (A|I) consisting of the matrix to be inverted (A) and the identity matrix (I) is transformed into (I|A^(-1)).

Returns:: a reference to the matrix object which contains now the inverted matrix

Definition at line 317 of file matrix.cpp.

References get_id(), and overlay().

Referenced by get_inverse(), and firevision::ProjectiveCam::set_location().

unsigned int fawkes::Matrix::num_cols ( ) const

inline

Return the number of columns in the Matrix.

Returns:: the number of columns

Definition at line 43 of file matrix.h.

Referenced by get_submatrix(), fawkes::HomTransform::HomTransform(), id(), Matrix(), operator*(), operator*=(), operator+(), operator+=(), operator-(), operator-=(), operator==(), print_info(), and size().

unsigned int fawkes::Matrix::num_rows ( ) const

inline

Return the number of rows in the Matrix.

Returns:: the number of rows

Definition at line 42 of file matrix.h.

Referenced by get_submatrix(), fawkes::HomTransform::HomTransform(), id(), Matrix(), operator*(), operator*=(), operator+(), operator+=(), operator-(), operator-=(), operator==(), print_info(), and size().

float fawkes::Matrix::operator()	(	unsigned int	row,
		unsigned int	col
	)		const

(Read-only) Access-operator.

With this operator it is possible to access a specific element of the matrix. (First element is at (0, 0)

Parameters:

row	the row of the element
col	the column of the element

Returns:: the value of the specified element

Definition at line 472 of file matrix.cpp.

float & fawkes::Matrix::operator()	(	unsigned int	row,
		unsigned int	col
	)

(RW) Access operator.

see the read-only access operator for operational details

Parameters:

row	the row of the element
col	the column of the element

Returns:: a reference to the specified element

Definition at line 489 of file matrix.cpp.

Matrix fawkes::Matrix::operator* ( const Matrix & rhs ) const

Matrix multiplication operator.

(Matrix)a.operator*((Matrix)b) computes a * b; i.e., the 2nd matrix is right-multiplied to the 1st matrix

Parameters:

rhs	the right-hand-side matrix

Returns:: the product of the two matrices (a * b)

Definition at line 535 of file matrix.cpp.

References num_cols(), and num_rows().

Vector fawkes::Matrix::operator* ( const Vector & v ) const

Multiply the matrix with given vector.

Parameters:

v a vector

Returns:: the result of the matrix-vector multiplication

Definition at line 627 of file matrix.cpp.

References fawkes::Vector::data_ptr(), num_cols(), num_rows(), and fawkes::Vector::size().

Matrix fawkes::Matrix::operator* ( const float & f ) const

Mulitply every element of the matrix with the given scalar.

Parameters:

f a scalar

Returns:: the result of the multiplication

Definition at line 659 of file matrix.cpp.

References get_data().

Matrix & fawkes::Matrix::operator*= ( const Matrix & rhs )

Combined matrix-multipliation and assignement operator.

Parameters:

rhs	the right-hand-side Matrix

Returns:: a reference to the Matrix that contains the result of the multiplication

Definition at line 572 of file matrix.cpp.

References num_cols(), and num_rows().

Matrix & fawkes::Matrix::operator*= ( const float & f )

Combined scalar multiplication and assignment operator.

Parameters:

f a scalar

Returns:: reference to the result

Definition at line 677 of file matrix.cpp.

Matrix fawkes::Matrix::operator+ ( const Matrix & rhs ) const

Addition operator.

Adds the corresponding elements of the two matrices.

Parameters:

rhs	the right-hand-side matrix

Returns:: the resulting matrix

Definition at line 726 of file matrix.cpp.

References get_data(), num_cols(), and num_rows().

Matrix & fawkes::Matrix::operator+= ( const Matrix & rhs )

Add-assign operator.

Parameters:

rhs	the right-hand-side matrix

Returns:: a reference to the resulting matrix (this)

Definition at line 751 of file matrix.cpp.

References get_data(), num_cols(), and num_rows().

Matrix fawkes::Matrix::operator- ( const Matrix & rhs ) const

Subtraction operator.

Subtracts the corresponding elements of the two matrices.

Parameters:

rhs	the right-hand-side matrix

Returns:: the resulting matrix

Definition at line 775 of file matrix.cpp.

References get_data(), num_cols(), and num_rows().

Matrix & fawkes::Matrix::operator-= ( const Matrix & rhs )

Subtract-assign operator.

Parameters:

rhs	the right-hand-side matrix

Returns:: a reference to the resulting matrix (this)

Definition at line 801 of file matrix.cpp.

References get_data(), num_cols(), and num_rows().

Matrix fawkes::Matrix::operator/ ( const float & f ) const

Divide every element of the matrix with the given scalar.

Parameters:

f a scalar

Returns:: the result of the divison

Definition at line 692 of file matrix.cpp.

References get_data().

Matrix & fawkes::Matrix::operator/= ( const float & f )

Combined scalar division and assignment operator.

Parameters:

f a scalar

Returns:: reference to the result

Definition at line 710 of file matrix.cpp.

Matrix & fawkes::Matrix::operator= ( const Matrix & m )

Assignment operator.

Copies the data form the rhs Matrix to the lhs Matrix.

Parameters:

m	the rhs Matrix

Returns:: a reference to this Matrix

Definition at line 506 of file matrix.cpp.

bool fawkes::Matrix::operator== ( const Matrix & rhs ) const

Comparison operator.

Parameters:

rhs	the right-hand-side Matrix

Returns:: true if every element of this matrix is equal to the corresponding element of the other matrix

Definition at line 825 of file matrix.cpp.

References get_data(), num_cols(), and num_rows().

void fawkes::Matrix::overlay	(	unsigned int	row,
		unsigned int	col,
		const Matrix &	over
	)

Overlays another matrix over this matrix.

Parameters:

row	the top-most row from which onwards the the elements are exchanged for corresponding elements in the given matrix
col	the left-most column from which onwards the the elements are exchanged for corresponding elements in the given matrix
over	the matrix to be overlaid

Definition at line 445 of file matrix.cpp.

Referenced by firevision::ProjectiveCam::get_GPA_p(), fawkes::HomTransform::invert(), invert(), firevision::Calibration::K(), and firevision::ProjectiveCam::set_location().

void fawkes::Matrix::print_info	(	const char *	name = `0`,
		const char *	col_sep = `0`,
		const char *	row_sep = `0`
	)		const

Print matrix to standard out.

Parameters:

name	a name that is printed before the content of the matrix (not required)
col_sep	a string used to separate columns (defaults to '\t')
row_sep	a string used to separate rows (defaults to '\n')

Definition at line 890 of file matrix.cpp.

References num_cols(), and num_rows().

Referenced by fawkes::HomTransform::print_info(), and firevision::ProjectiveCam::print_info().

void fawkes::Matrix::size	(	unsigned int &	num_rows,
		unsigned int &	num_cols
	)		const

Determines the dimensions of the matrix.

Parameters:

num_cols	pointer to an unsigned int to where the number of columns is copied to
num_rows	pointer to an unsigned int to where the number of rows is copied to

Definition at line 161 of file matrix.cpp.

References num_cols(), and num_rows().

Referenced by get_diag(), and firevision::Calibration::K().

Matrix & fawkes::Matrix::transpose ( )

Transposes the matrix.

Returns:: a reference to the matrix object now containing the transposed matrix

Definition at line 233 of file matrix.cpp.

Referenced by fawkes::HomTransform::invert().

The documentation for this class was generated from the following files:

src/libs/geometry/matrix.h
src/libs/geometry/matrix.cpp

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation