RDK2::Geometry::DMatrix< X > Class Template Reference

#include <dmatrix.h>

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Detailed Description

template<class X>
class RDK2::Geometry::DMatrix< X >

Attenzione al costruttore: rows,columns == height,width

Attenzione ai metodi di accesso: at(i,j) � l'elemento alla riga i e colonna j

Se state usando DMatrix per rappresentare mappe o altre cose spaziali, vi conviene usare la classe Viewport che ha implementato per bene i metodi per passare dalle coordinate mondo alla cella delle griglia e viceversa. (non ve ne pentirete)

Se volete usare x,y vi conviene accedere in questo modo: at(y, x) ovvero y->righe, x->colonne.

Questa classe implementa il copy-on-write. Da utente, � tutto nascosto ai vostri occhi. Se aggiungete metodi che cambiano i dati, ricordate di chiamare willModify() prima di modificare effettivamente.

Definition at line 58 of file dmatrix.h.


Public Member Functions
	DMatrix (int rows=1, int columns=1)
	COSTRUCTORS amd reference counting.
	~DMatrix ()
	DMatrix (const DMatrix &)
DMatrix &	operator= (const DMatrix &)
X *	operator[] (int i)
const X *	operator[] (int row) const
int	rows () const
int	columns () const
DMatrix< X >	aPieceOfYou (int i, int j, int m, int n, X zero=0) const
DMatrix< X >	around (int i, int j, int m, X zero=0) const
X	at (int i, int j, X zero=0) const
X &	el (int i, int j) throw (std::invalid_argument)
const X &	el (int i, int j) const throw (std::invalid_argument)
X &	el (const Point2< int > &p) throw (std::invalid_argument)
const X &	el (const Point2< int > &p) const throw (std::invalid_argument)
bool	isInside (int i, int j) const
bool	isInside (const Point2< int > &p) const
void	setAll (const X &x)
template<class Op>
void	applyAll (Op &op)
Point2< int >	begin ()
Point2< int >	end ()
Point2< int >	next (const Point2< int > &prev)
template<class Y, class Z>
void	product (const DMatrix< Y > &, Z &z) const
void	multAll (const X &x)
DMatrix	transpose () const
const X	det () const
DMatrix	inv () const
DMatrix	operator* (const DMatrix &) const
DMatrix	operator+ (const DMatrix &) const
DMatrix	operator- (const DMatrix &) const
DMatrix	operator* (const X &) const
bool	operator== (const DMatrix &) const
X *	getElems ()
const X *	getElems () const
std::string	outputSpaceSeparated () const
Static Public Member Functions
static DMatrix	I (int n)
	Returns the identity matrix.
Protected Member Functions
void	willModify ()
	These methods do the copy-on-write.
void	detach ()
Protected Attributes
int	nrows
int	ncols
X *	elems
X **	mrows
int *	shares

Constructor & Destructor Documentation

template<class X>

RDK2::Geometry::DMatrix< X >::DMatrix	(	int	rows = `1`,
		int	columns = `1`
	)			`[inline]`

COSTRUCTORS amd reference counting.

Default constructor X() is called for every cell.

Definition at line 5 of file dmatrix_imp.hpp.

References RDK2::Geometry::DMatrix< X >::elems, RDK2::Geometry::DMatrix< X >::mrows, RDK2::Geometry::DMatrix< X >::ncols, RDK2::Geometry::DMatrix< X >::nrows, and RDK2::Geometry::DMatrix< X >::shares.

template<class X>

RDK2::Geometry::DMatrix< X >::~DMatrix ( ) [inline]

Definition at line 28 of file dmatrix_imp.hpp.

References RDK2::Geometry::DMatrix< X >::elems, RDK2::Geometry::DMatrix< X >::mrows, and RDK2::Geometry::DMatrix< X >::shares.

template<class X>

RDK2::Geometry::DMatrix< X >::DMatrix ( const DMatrix< X > & m ) [inline]

Definition at line 20 of file dmatrix_imp.hpp.

References RDK2::Geometry::DMatrix< X >::elems, RDK2::Geometry::DMatrix< X >::mrows, RDK2::Geometry::DMatrix< X >::ncols, RDK2::Geometry::DMatrix< X >::nrows, and RDK2::Geometry::DMatrix< X >::shares.

Member Function Documentation

template<class X>

DMatrix< X > & RDK2::Geometry::DMatrix< X >::operator= ( const DMatrix< X > & m ) [inline]

Definition at line 36 of file dmatrix_imp.hpp.

References RDK2::Geometry::DMatrix< X >::elems, RDK2::Geometry::DMatrix< X >::mrows, RDK2::Geometry::DMatrix< X >::ncols, RDK2::Geometry::DMatrix< X >::nrows, and RDK2::Geometry::DMatrix< X >::shares.

template<class X>

X* RDK2::Geometry::DMatrix< X >::operator[] ( int i ) [inline]

Definition at line 67 of file dmatrix.h.

template<class X>

const X* RDK2::Geometry::DMatrix< X >::operator[] ( int row ) const [inline]

Definition at line 72 of file dmatrix.h.

template<class X>

int RDK2::Geometry::DMatrix< X >::rows ( ) const [inline]

Definition at line 74 of file dmatrix.h.

Referenced by RDK2::Geometry::Viewport::b2w(), RDK2::Geometry::convolve(), RDK2::Geometry::copy(), RDK2::Geometry::eig22_gsl(), RDK2::Geometry::getAsVector(), RDK2::Geometry::Viewport::getCellBoundingBox(), RDK2::Geometry::Viewport::getCellSize(), RDK2::Geometry::getWhiteningMatrix22(), RDK2::Geometry::DMatrix< int >::next(), RDK2::Geometry::normalize(), RDK2::Geometry::operator*(), RDK2::Geometry::DMatrix< X >::product(), and RDK2::Geometry::savePGM().

template<class X>

int RDK2::Geometry::DMatrix< X >::columns ( ) const [inline]

Definition at line 75 of file dmatrix.h.

Referenced by RDK2::Geometry::Viewport::b2w(), RDK2::Geometry::convolve(), RDK2::Geometry::copy(), RDK2::Geometry::eig22_gsl(), RDK2::Geometry::getAsVector(), RDK2::Geometry::Viewport::getCellBoundingBox(), RDK2::Geometry::Viewport::getCellSize(), RDK2::Geometry::getWhiteningMatrix22(), RDK2::Geometry::DMatrix< int >::next(), RDK2::Geometry::normalize(), RDK2::Geometry::operator*(), RDK2::Geometry::DMatrix< X >::product(), and RDK2::Geometry::savePGM().

template<class X>

DMatrix< X > RDK2::Geometry::DMatrix< X >::aPieceOfYou	(	int	i,
		int	j,
		int	m,
		int	n,
		X	zero = `0`
	)			const `[inline]`

Returns a copy of the sub-matrix i,j-i+m,j+n. Can go over the borders, will be padded with zero.

Definition at line 82 of file dmatrix_imp.hpp.

References RDK2::Geometry::DMatrix< X >::at().

Referenced by RDK2::Geometry::DMatrix< X >::around(), and RDK2::Geometry::PoseNormalDist::getXYCov().

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template<class X>

DMatrix< X > RDK2::Geometry::DMatrix< X >::around	(	int	i,
		int	j,
		int	m,
		X	zero = `0`
	)			const `[inline]`

Returns the 2m+1 square sub-matrix around point i,j

Definition at line 92 of file dmatrix_imp.hpp.

References RDK2::Geometry::DMatrix< X >::aPieceOfYou().

Referenced by RDK2::Geometry::convolve().

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template<class X>

X RDK2::Geometry::DMatrix< X >::at	(	int	i,
		int	j,
		X	zero = `0`
	)			const `[inline]`

Returns value at row=i,column=j of zero if out of borders

Definition at line 62 of file dmatrix_imp.hpp.

References RDK2::Geometry::DMatrix< X >::isInside(), and RDK2::Geometry::DMatrix< X >::mrows.

Referenced by RDK2::Geometry::DMatrix< X >::aPieceOfYou(), and RDK2::Geometry::DMatrix< X >::outputSpaceSeparated().

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template<class X>

X & RDK2::Geometry::DMatrix< X >::el	(	int	i,
		int	j
	)			throw (std::invalid_argument) `[inline]`

Access element at row=i=y,column=j=x; throws exception if out of borders

Definition at line 67 of file dmatrix_imp.hpp.

References RDK2::Geometry::DMatrix< X >::isInside(), and RDK2::Geometry::DMatrix< X >::mrows.

Referenced by RDK2::Geometry::DMatrix< int >::el(), RDK2::SensorData::LaserData::getFisher(), RDK2::SensorData::LaserData::getFisherForXY(), and RDK2::Geometry::reassembleFromEig().

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template<class X>

const X & RDK2::Geometry::DMatrix< X >::el	(	int	i,
		int	j
	)			const throw (std::invalid_argument) `[inline]`

Definition at line 74 of file dmatrix_imp.hpp.

References RDK2::Geometry::DMatrix< X >::isInside(), and RDK2::Geometry::DMatrix< X >::mrows.

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template<class X>

X& RDK2::Geometry::DMatrix< X >::el ( const Point2< int > & p ) throw (std::invalid_argument) [inline]

Equivalent to el(p.y, p.x)

Definition at line 95 of file dmatrix.h.

template<class X>

const X& RDK2::Geometry::DMatrix< X >::el ( const Point2< int > & p ) const throw (std::invalid_argument) [inline]

Definition at line 99 of file dmatrix.h.

template<class X>

bool RDK2::Geometry::DMatrix< X >::isInside	(	int	i,
		int	j
	)			const `[inline]`

Checks whether point is inside the matrix.

Definition at line 98 of file dmatrix_imp.hpp.

References RDK2::Geometry::DMatrix< X >::ncols, and RDK2::Geometry::DMatrix< X >::nrows.

Referenced by RDK2::Geometry::DMatrix< X >::at(), RDK2::Geometry::DMatrix< X >::el(), and RDK2::Geometry::DMatrix< int >::isInside().

template<class X>

bool RDK2::Geometry::DMatrix< X >::isInside ( const Point2< int > & p ) const [inline]

Equivalent to isInside(p.y, p.x)

Definition at line 107 of file dmatrix.h.

template<class X>

void RDK2::Geometry::DMatrix< X >::setAll ( const X & x ) [inline]

Set all elements to value

Definition at line 103 of file dmatrix_imp.hpp.

References RDK2::Geometry::DMatrix< X >::ncols, RDK2::Geometry::DMatrix< X >::nrows, and RDK2::Geometry::DMatrix< X >::willModify().

Referenced by RDK2::SensorData::LaserData::getFisher(), RDK2::SensorData::LaserData::getFisherForXY(), and RDK2::Geometry::DMatrix< X >::I().

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template<class X>

template<class Op>

void RDK2::Geometry::DMatrix< X >::applyAll ( Op & op ) [inline]

Applies an operation to all elements

Definition at line 115 of file dmatrix.h.

template<class X>

Point2<int> RDK2::Geometry::DMatrix< X >::begin ( ) [inline]

Definition at line 122 of file dmatrix.h.

template<class X>

Point2<int> RDK2::Geometry::DMatrix< X >::end ( ) [inline]

Definition at line 123 of file dmatrix.h.

Referenced by RDK2::Geometry::DMatrix< int >::next().

template<class X>

Point2<int> RDK2::Geometry::DMatrix< X >::next ( const Point2< int > & prev ) [inline]

Definition at line 124 of file dmatrix.h.

template<class X>

void RDK2::Geometry::DMatrix< X >::willModify ( ) [inline, protected]

These methods do the copy-on-write.

Call this method before modifying the data.

Definition at line 138 of file dmatrix.h.

Referenced by RDK2::Geometry::DMatrix< int >::applyAll(), RDK2::Geometry::DMatrix< int >::getElems(), RDK2::Geometry::DMatrix< X >::multAll(), RDK2::Geometry::DMatrix< int >::operator[](), and RDK2::Geometry::DMatrix< X >::setAll().

template<class X>

void RDK2::Geometry::DMatrix< X >::detach ( ) [inline, protected]

Definition at line 52 of file dmatrix_imp.hpp.

References RDK2::Geometry::DMatrix< X >::elems, RDK2::Geometry::DMatrix< X >::ncols, and RDK2::Geometry::DMatrix< X >::nrows.

Referenced by RDK2::Geometry::DMatrix< X >::det(), and RDK2::Geometry::DMatrix< int >::willModify().

template<class X>

template<class Y, class Z>

void RDK2::Geometry::DMatrix< X >::product	(	const DMatrix< Y > &	m,
		Z &	z
	)			const `[inline]`

For matrixes holding numbers Correlation (sum of product of corresponding elements). Note that return value is passed as a reference beacause of compiler's problems with templates.

Definition at line 138 of file dmatrix_numeric.hpp.

References RDK2::Geometry::DMatrix< X >::columns(), RDK2::Geometry::DMatrix< X >::mrows, RDK2::Geometry::DMatrix< X >::ncols, RDK2::Geometry::DMatrix< X >::nrows, and RDK2::Geometry::DMatrix< X >::rows().

Referenced by RDK2::Geometry::convolve().

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