gtsam 4.2.0
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Vector.h
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1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
5 * All Rights Reserved
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
8 * See LICENSE for the license information
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)
63GTSAM_MAKE_VECTOR_DEFS(15)
64
65typedef Eigen::VectorBlock<Vector> SubVector;
66typedef Eigen::VectorBlock<const Vector> ConstSubVector;
67
73#if defined(GTSAM_EIGEN_VERSION_WORLD)
74static_assert(
75 GTSAM_EIGEN_VERSION_WORLD==EIGEN_WORLD_VERSION &&
76 GTSAM_EIGEN_VERSION_MAJOR==EIGEN_MAJOR_VERSION,
77 "Error: GTSAM was built against a different version of Eigen");
78#endif
79
96GTSAM_EXPORT bool fpEqual(double a, double b, double tol,
97 bool check_relative_also = true);
98
102GTSAM_EXPORT void print(const Vector& v, const std::string& s, std::ostream& stream);
103
107GTSAM_EXPORT void print(const Vector& v, const std::string& s = "");
108
112GTSAM_EXPORT void save(const Vector& A, const std::string &s, const std::string& filename);
113
117GTSAM_EXPORT bool operator==(const Vector& vec1,const Vector& vec2);
118
124GTSAM_EXPORT bool greaterThanOrEqual(const Vector& v1, const Vector& v2);
125
129GTSAM_EXPORT bool equal_with_abs_tol(const Vector& vec1, const Vector& vec2, double tol=1e-9);
130GTSAM_EXPORT bool equal_with_abs_tol(const SubVector& vec1, const SubVector& vec2, double tol=1e-9);
131
135inline bool equal(const Vector& vec1, const Vector& vec2, double tol) {
136 return equal_with_abs_tol(vec1, vec2, tol);
137}
138
142inline bool equal(const Vector& vec1, const Vector& vec2) {
143 return equal_with_abs_tol(vec1, vec2);
144}
145
153GTSAM_EXPORT bool assert_equal(const Vector& vec1, const Vector& vec2, double tol=1e-9);
154
162GTSAM_EXPORT bool assert_inequal(const Vector& vec1, const Vector& vec2, double tol=1e-9);
163
171GTSAM_EXPORT bool assert_equal(const SubVector& vec1, const SubVector& vec2, double tol=1e-9);
172GTSAM_EXPORT bool assert_equal(const ConstSubVector& vec1, const ConstSubVector& vec2, double tol=1e-9);
173
181GTSAM_EXPORT bool linear_dependent(const Vector& vec1, const Vector& vec2, double tol=1e-9);
182
189GTSAM_EXPORT Vector ediv_(const Vector &a, const Vector &b);
190
194template<class V1, class V2>
195inline double dot(const V1 &a, const V2& b) {
196 assert (b.size()==a.size());
197 return a.dot(b);
198}
199
201template<class V1, class V2>
202inline double inner_prod(const V1 &a, const V2& b) {
203 assert (b.size()==a.size());
204 return a.dot(b);
205}
206
207#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
212inline void GTSAM_DEPRECATED scal(double alpha, Vector& x) { x *= alpha; }
213
218template<class V1, class V2>
219inline void GTSAM_DEPRECATED axpy(double alpha, const V1& x, V2& y) {
220 assert (y.size()==x.size());
221 y += alpha * x;
222}
223inline void axpy(double alpha, const Vector& x, SubVector y) {
224 assert (y.size()==x.size());
225 y += alpha * x;
226}
227#endif
228
234GTSAM_EXPORT std::pair<double,Vector> house(const Vector &x);
235
237GTSAM_EXPORT double houseInPlace(Vector &x);
238
249GTSAM_EXPORT std::pair<Vector, double>
250weightedPseudoinverse(const Vector& v, const Vector& weights);
251
252/*
253 * Fast version *no error checking* !
254 * Pass in initialized vector pseudo of size(weights) or will crash !
255 * @return the precision, pseudoinverse in third argument
256 */
257GTSAM_EXPORT double weightedPseudoinverse(const Vector& a, const Vector& weights, Vector& pseudo);
258
262GTSAM_EXPORT Vector concatVectors(const std::list<Vector>& vs);
263
267GTSAM_EXPORT Vector concatVectors(size_t nrVectors, ...);
268} // namespace gtsam
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:167
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
equals with an tolerance, prints out message if unequal
Definition Matrix.cpp:43
bool linear_dependent(const Matrix &A, const Matrix &B, double tol)
check whether the rows of two matrices are linear dependent
Definition Matrix.cpp:117
double inner_prod(const V1 &a, const V2 &b)
compatibility version for ublas' inner_prod()
Definition Vector.h:202
void print(const Matrix &A, const string &s, ostream &stream)
print without optional string, must specify cout yourself
Definition Matrix.cpp:156
void axpy(double alpha, const Errors &x, Errors &y)
BLAS level 2 style AXPY, y := alpha*x + y
Definition Errors.cpp:111
bool assert_inequal(const Matrix &A, const Matrix &B, double tol)
inequals with an tolerance, prints out message if within tolerance
Definition Matrix.cpp:63
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:195
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:81
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:100