详细描述

template<int _rows, int _cols, typename T = float>
requires (std::is_arithmetic_v<T> && _rows > 0 && _cols > 0)
class roboctrl::utils::Matrix< _rows, _cols, T >

在文件 Matrix.hpp 第 25 行定义.

Public 成员函数
constexpr	Matrix ()
	Constructor without input data

constexpr	Matrix (T val)

constexpr	Matrix (const T *data)
	Constructor with input data

constexpr	Matrix (const Matrix &mat)
	Copy Constructor

constexpr	Matrix (Matrix &&mat) noexcept

template<typename Ty > requires (std::is_arithmetic_v<Ty>)
constexpr	Matrix (const Matrix< _rows, _cols, Ty > &mat)

	~Matrix ()=default
	Destructor

constexpr uint32_t	rows () const
	returns the row size of the matrix

constexpr uint32_t	cols () const
	return the column size of the matrix

constexpr std::array< T, _cols > &	operator[] (int row)
	Return the element of the matrix

constexpr const std::array< T, _cols > &	operator[] (int row) const

constexpr Matrix &	operator= (const Matrix &mat)
	Copy assignment of the matrix(row * size) instance

constexpr Matrix &	operator= (Matrix &&mat) noexcept

constexpr Matrix &	operator+= (const Matrix &mat)
	Additional operator of two matrices(row * size)

constexpr Matrix &	operator-= (const Matrix &mat)
	Substraction operator of two matrices(row * size)

template<typename Ty > requires (std::is_arithmetic_v<Ty>)
constexpr Matrix &	operator*= (Ty val)
	Scalar operator of the matrix and a scaling factor

template<typename Ty > requires (std::is_arithmetic_v<Ty>)
constexpr Matrix &	operator/= (Ty val)
	Scalar operator of the matrix and a division factor

constexpr Matrix	operator+ (const Matrix &mat) const
	Additonal operator

constexpr Matrix	operator- (const Matrix &mat) const
	Substraction matrix

template<typename Ty > requires (std::is_arithmetic_v<Ty>)
constexpr Matrix	operator* (Ty val) const
	Scalar operator of the matrix and a scaling factor

template<typename Ty > requires (std::is_arithmetic_v<Ty>)
Matrix	operator/ (Ty val) const
	Scalar operator of the matrix and a division factor

constexpr bool	operator== (const Matrix &mat) const
	Compare whether two matrices are identical

template<int rows, int cols>
constexpr Matrix< rows, cols, T >	block (int start_row, int start_col) const

constexpr Matrix< 1, _cols, T >	row (int row) const
	Return the specific row of the matrix

constexpr Matrix< _rows, 1, T >	col (int col) const
	Return the specific row of the matrix

constexpr Matrix< _cols, _rows, T >	trans () const
	Get the transpose of the matrix

constexpr Matrix	clone () const

constexpr T	trace () const
	Get the trace of the matrix

constexpr Matrix	inv () const
	Get the inverse of the matrix

静态 Public 成员函数
static constexpr Matrix	zeros ()
	Returns a _rows x _cols zero matrix

static constexpr Matrix	ones ()
	Returns a _rows x _cols one matrix

static constexpr Matrix	eye ()
	Returns a _rows * columns matrix

static constexpr Matrix	diag (const Matrix< _rows, 1, T > &vec)
	Returns a _rows x _cols diagonal matrix

友元
template<typename Ty > requires (std::is_arithmetic_v<Ty>)
constexpr friend Matrix	operator* (Ty val, const Matrix &mat)
	Scalar operator of the matrix and a scaling factor

template<int cols2>
constexpr friend Matrix< _rows, cols2, T >	operator* (const Matrix< _rows, _cols, T > &mat1, const Matrix< _cols, cols2, T > &mat2)
	The matrix multiplication

构造及析构函数说明

◆ Matrix() [1/6]

template<int _rows, int _cols, typename T = float>

constexpr roboctrl::utils::Matrix< _rows, _cols, T >::Matrix ( )

inlineconstexpr

Constructor without input data

参数

在文件 Matrix.hpp 第 36 行定义.

◆ Matrix() [2/6]

template<int _rows, int _cols, typename T = float>

constexpr roboctrl::utils::Matrix< _rows, _cols, T >::Matrix ( T val )

inlineexplicitconstexpr

在文件 Matrix.hpp 第 38 行定义.

◆ Matrix() [3/6]

template<int _rows, int _cols, typename T = float>

constexpr roboctrl::utils::Matrix< _rows, _cols, T >::Matrix ( const T * data )

inlineexplicitconstexpr

Constructor with input data

参数

data	A 2-D array buffer that stores the data

在文件 Matrix.hpp 第 48 行定义.

◆ Matrix() [4/6]

template<int _rows, int _cols, typename T = float>

constexpr roboctrl::utils::Matrix< _rows, _cols, T >::Matrix ( const Matrix< _rows, _cols, T > & mat )

inlineconstexpr

Copy Constructor

参数

mat	The copied matrix

在文件 Matrix.hpp 第 59 行定义.

◆ Matrix() [5/6]

template<int _rows, int _cols, typename T = float>

constexpr roboctrl::utils::Matrix< _rows, _cols, T >::Matrix ( Matrix< _rows, _cols, T > && mat )

inlineconstexprnoexcept

在文件 Matrix.hpp 第 64 行定义.

◆ Matrix() [6/6]

template<int _rows, int _cols, typename T = float>

template<typename Ty >
requires (std::is_arithmetic_v<Ty>)

constexpr roboctrl::utils::Matrix< _rows, _cols, T >::Matrix ( const Matrix< _rows, _cols, Ty > & mat )

inlineconstexpr

在文件 Matrix.hpp 第 71 行定义.

成员函数说明

◆ block()

template<int _rows, int _cols, typename T = float>

template<int rows, int cols>

constexpr Matrix< rows, cols, T > roboctrl::utils::Matrix< _rows, _cols, T >::block	(	int	start_row,
		int	start_col
	)		const

inlineconstexpr

在文件 Matrix.hpp 第 310 行定义.

◆ clone()

template<int _rows, int _cols, typename T = float>

constexpr Matrix roboctrl::utils::Matrix< _rows, _cols, T >::clone ( ) const

inlineconstexpr

Clone the matrix

返回: the clone of the matrix

在文件 Matrix.hpp 第 358 行定义.

◆ col()

template<int _rows, int _cols, typename T = float>

constexpr Matrix< _rows, 1, T > roboctrl::utils::Matrix< _rows, _cols, T >::col ( int col ) const

inlineconstexpr

Return the specific row of the matrix

参数

col	The column index

返回值

The	column vector presented in the matrix from

在文件 Matrix.hpp 第 334 行定义.

◆ cols()

template<int _rows, int _cols, typename T = float>

constexpr uint32_t roboctrl::utils::Matrix< _rows, _cols, T >::cols ( ) const

inlineconstexpr

return the column size of the matrix

返回: _cols The column size of the matrix

在文件 Matrix.hpp 第 96 行定义.

◆ diag()

template<int _rows, int _cols, typename T = float>

static constexpr Matrix roboctrl::utils::Matrix< _rows, _cols, T >::diag ( const Matrix< _rows, 1, T > & vec )

inlinestaticconstexpr

Returns a _rows x _cols diagonal matrix

模板参数

_rows	The row size
_cols	The column size

参数

vec	The diagnoal entries

返回值

The	diagnoanl matrix

在文件 Matrix.hpp 第 493 行定义.

引用了 roboctrl::utils::Matrix< _rows, _cols, T >::zeros().

◆ eye()

template<int _rows, int _cols, typename T = float>

static constexpr Matrix roboctrl::utils::Matrix< _rows, _cols, T >::eye ( )

inlinestaticconstexpr

Returns a _rows * columns matrix

模板参数

_rows	The row size
_cols	The column size

返回值

The	identity matrix

在文件 Matrix.hpp 第 476 行定义.

引用了 roboctrl::utils::Matrix< _rows, _cols, T >::zeros().

被这些函数引用 roboctrl::utils::Matrix< _rows, _cols, T >::inv() , 以及 roboctrl::utils::RLS< dim >::reset().

◆ inv()

template<int _rows, int _cols, typename T = float>

constexpr Matrix roboctrl::utils::Matrix< _rows, _cols, T >::inv ( ) const

inlineconstexpr

Get the inverse of the matrix

参数

retval The inverse of the matrix

在文件 Matrix.hpp 第 383 行定义.

引用了 roboctrl::utils::Matrix< _rows, _cols, T >::eye().

◆ ones()

template<int _rows, int _cols, typename T = float>

static constexpr Matrix roboctrl::utils::Matrix< _rows, _cols, T >::ones ( )

inlinestaticconstexpr

Returns a _rows x _cols one matrix

模板参数

_rows	The row size
_cols	The column size

返回值

The	one matrix

在文件 Matrix.hpp 第 465 行定义.

◆ operator*()

template<int _rows, int _cols, typename T = float>

template<typename Ty >
requires (std::is_arithmetic_v<Ty>)

constexpr Matrix roboctrl::utils::Matrix< _rows, _cols, T >::operator* ( Ty val ) const

inlineconstexpr

Scalar operator of the matrix and a scaling factor

参数

val	The scaling factor

注解: This function does not return itself

返回: THe scaled matrix

在文件 Matrix.hpp 第 237 行定义.

◆ operator*=()

template<int _rows, int _cols, typename T = float>

template<typename Ty >
requires (std::is_arithmetic_v<Ty>)

constexpr Matrix & roboctrl::utils::Matrix< _rows, _cols, T >::operator*= ( Ty val )

inlineconstexpr

Scalar operator of the matrix and a scaling factor

参数

val	The scaling factor

注解: This function returns itself as the result

返回: THe scaled matrix

在文件 Matrix.hpp 第 170 行定义.

◆ operator+()

template<int _rows, int _cols, typename T = float>

constexpr Matrix roboctrl::utils::Matrix< _rows, _cols, T >::operator+ ( const Matrix< _rows, _cols, T > & mat ) const

inlineconstexpr

Additonal operator

注解: This function doesn't return itself but instead a new matrix instance

参数

mat	The matrix on the right hand side

返回: The sum of the additional matrix

在文件 Matrix.hpp 第 203 行定义.

◆ operator+=()

template<int _rows, int _cols, typename T = float>

constexpr Matrix & roboctrl::utils::Matrix< _rows, _cols, T >::operator+= ( const Matrix< _rows, _cols, T > & mat )

inlineconstexpr

Additional operator of two matrices(row * size)

参数

mat	The matrix on the right hand side

注解: This function returns itself as the result

返回: The sum of two matrices

在文件 Matrix.hpp 第 138 行定义.

◆ operator-()

template<int _rows, int _cols, typename T = float>

constexpr Matrix roboctrl::utils::Matrix< _rows, _cols, T >::operator- ( const Matrix< _rows, _cols, T > & mat ) const

inlineconstexpr

Substraction matrix

注解: This function does not return itself but instead a new matrix instance

参数

mat	matrix on the right hand side

返回: The sum of the substracted matrix

在文件 Matrix.hpp 第 219 行定义.

◆ operator-=()

template<int _rows, int _cols, typename T = float>

constexpr Matrix & roboctrl::utils::Matrix< _rows, _cols, T >::operator-= ( const Matrix< _rows, _cols, T > & mat )

inlineconstexpr

Substraction operator of two matrices(row * size)

参数

mat	The matrix on the left hand side

注解: This function returns itself as the result

返回: The difference of two matrices

在文件 Matrix.hpp 第 153 行定义.

◆ operator/()

template<int _rows, int _cols, typename T = float>

template<typename Ty >
requires (std::is_arithmetic_v<Ty>)

Matrix roboctrl::utils::Matrix< _rows, _cols, T >::operator/ ( Ty val ) const

inline

Scalar operator of the matrix and a division factor

参数

val	The division factor

注解: This function returns itself as the result

返回值

matrix / val

返回: The scaled matrix

在文件 Matrix.hpp 第 270 行定义.

◆ operator/=()

template<int _rows, int _cols, typename T = float>

template<typename Ty >
requires (std::is_arithmetic_v<Ty>)

constexpr Matrix & roboctrl::utils::Matrix< _rows, _cols, T >::operator/= ( Ty val )

inlineconstexpr

Scalar operator of the matrix and a division factor

参数

val	The division factor

注解: This function returns itself as the result

返回值

matrix / val

返回: The scaled matrix

在文件 Matrix.hpp 第 188 行定义.

◆ operator=() [1/2]

template<int _rows, int _cols, typename T = float>

constexpr Matrix & roboctrl::utils::Matrix< _rows, _cols, T >::operator= ( const Matrix< _rows, _cols, T > & mat )

inlineconstexpr

Copy assignment of the matrix(row * size) instance

参数

mat	The copied prototype

返回: *this matrix

在文件 Matrix.hpp 第 120 行定义.

◆ operator=() [2/2]

template<int _rows, int _cols, typename T = float>

constexpr Matrix & roboctrl::utils::Matrix< _rows, _cols, T >::operator= ( Matrix< _rows, _cols, T > && mat )

inlineconstexprnoexcept

在文件 Matrix.hpp 第 126 行定义.

◆ operator==()

template<int _rows, int _cols, typename T = float>

constexpr bool roboctrl::utils::Matrix< _rows, _cols, T >::operator== ( const Matrix< _rows, _cols, T > & mat ) const

inlineconstexpr

Compare whether two matrices are identical

在文件 Matrix.hpp 第 304 行定义.

◆ operator[]() [1/2]

template<int _rows, int _cols, typename T = float>

constexpr std::array< T, _cols > & roboctrl::utils::Matrix< _rows, _cols, T >::operator[] ( int row )

inlineconstexpr

Return the element of the matrix

参数

row The row

在文件 Matrix.hpp 第 105 行定义.

◆ operator[]() [2/2]

template<int _rows, int _cols, typename T = float>

constexpr const std::array< T, _cols > & roboctrl::utils::Matrix< _rows, _cols, T >::operator[] ( int row ) const

inlineconstexpr

在文件 Matrix.hpp 第 110 行定义.

◆ row()

template<int _rows, int _cols, typename T = float>

constexpr Matrix< 1, _cols, T > roboctrl::utils::Matrix< _rows, _cols, T >::row ( int row ) const

inlineconstexpr

Return the specific row of the matrix

参数

row	The row index

返回值

The	row vector presented in the matrix from

在文件 Matrix.hpp 第 324 行定义.

◆ rows()

template<int _rows, int _cols, typename T = float>

constexpr uint32_t roboctrl::utils::Matrix< _rows, _cols, T >::rows ( ) const

inlineconstexpr

returns the row size of the matrix

返回: _rows The row size of the matrix

在文件 Matrix.hpp 第 87 行定义.

◆ trace()

template<int _rows, int _cols, typename T = float>

constexpr T roboctrl::utils::Matrix< _rows, _cols, T >::trace ( ) const

inlineconstexpr

Get the trace of the matrix

参数

retval The trace of the matrix

在文件 Matrix.hpp 第 370 行定义.

◆ trans()

template<int _rows, int _cols, typename T = float>

constexpr Matrix< _cols, _rows, T > roboctrl::utils::Matrix< _rows, _cols, T >::trans ( ) const

inlineconstexpr

Get the transpose of the matrix

参数

retval the transposed matrix

在文件 Matrix.hpp 第 344 行定义.

被这些函数引用 roboctrl::utils::RLS< dim >::update().

◆ zeros()

template<int _rows, int _cols, typename T = float>

static constexpr Matrix roboctrl::utils::Matrix< _rows, _cols, T >::zeros ( )

inlinestaticconstexpr

Returns a _rows x _cols zero matrix

模板参数

_rows	The row size
_cols	The column size

返回值

The	zero matrix

在文件 Matrix.hpp 第 454 行定义.

被这些函数引用 roboctrl::utils::Matrix< _rows, _cols, T >::diag(), roboctrl::utils::Matrix< _rows, _cols, T >::eye() , 以及 roboctrl::utils::RLS< dim >::reset().

友元及相关函数文档

◆ Matrix

template<int _rows, int _cols, typename T = float>

template<int r, int c, typename U >

friend class Matrix

friend

在文件 Matrix.hpp 第 29 行定义.

◆ operator* [1/2]

template<int _rows, int _cols, typename T = float>

template<int cols2>

constexpr friend Matrix< _rows, cols2, T > operator*	(	const Matrix< _rows, _cols, T > &	mat1,
		const Matrix< _cols, cols2, T > &	mat2
	)

friend

The matrix multiplication

参数

mat1	the matrix on the LHS
mat2	the matrix on the RHS

返回: The multiplication result

在文件 Matrix.hpp 第 287 行定义.

◆ operator* [2/2]

template<int _rows, int _cols, typename T = float>

template<typename Ty >
requires (std::is_arithmetic_v<Ty>)

constexpr friend Matrix operator*	(	Ty	val,
		const Matrix< _rows, _cols, T > &	mat
	)

friend

Scalar operator of the matrix and a scaling factor

参数

val	The scaling factor on the left hand side

注解: This function does not return itself; This time the scaling factor is on the left hand side

返回: THe scaled matrix

在文件 Matrix.hpp 第 256 行定义.

该类的文档由以下文件生成:

/home/runner/work/GKD.RoboCtrl/GKD.RoboCtrl/include/utils/Matrix.hpp

详细描述

Public 成员函数

静态 Public 成员函数

友元

构造及析构函数说明

◆ Matrix() [1/6]

◆ Matrix() [2/6]

◆ Matrix() [3/6]

◆ Matrix() [4/6]

◆ Matrix() [5/6]

◆ Matrix() [6/6]

成员函数说明

◆ block()

◆ clone()

◆ col()

◆ cols()

◆ diag()

◆ eye()

◆ inv()

◆ ones()

◆ operator*()

◆ operator*=()

◆ operator+()

◆ operator+=()

◆ operator-()

◆ operator-=()

◆ operator/()

◆ operator/=()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ row()

◆ rows()

◆ trace()

◆ trans()

◆ zeros()

友元及相关函数文档

◆ Matrix

◆ operator* [1/2]

◆ operator* [2/2]