/home/laradmin/lar/perception/lidar_egomotion/src/mbicp/sp_matrix.h File Reference

Matrix class auxiliary functions declaration. More...

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Classes
struct	BMAT
struct	MATRIX
struct	VECTOR
Defines
#define	DOF   (3)
#define	FIRST(b)   ((b).mat[0])
#define	M_COMPAT_DIM(m, n)   ((m).cols == (n).rows)
#define	M_EQUAL_DIM(m, n)   (((m).rows == (n).rows) && ((m).cols == (n).cols))
#define	M_SQUARE(m)   ((m).rows == (m).cols)
#define	MAX_COLS   (7)
#define	MAX_ROWS   (7)
#define	MCOLS(m)   ((m).cols)
#define	MDATA(m, i, j)   ((m).data[i][j])
#define	MROWS(m)   ((m).rows)
#define	MV_COMPAT_DIM(m, v)   ((m).cols == (v).elements)
#define	RANGE(b)   ((b).range)
#define	SECOND(b)   ((b).mat[1])
#define	SQUARE(x)   ((x)*(x))
#define	THIRD(b)   ((b).mat[2])
#define	V_EQUAL_DIM(v, w)   (((v).elements == (w).elements))
#define	VDATA(v, i)   ((v).data[i])
#define	VELEMENTS(v)   ((v).elements)
Functions
MATRIX	create_matrix (int rows, int cols)
VECTOR	create_vector (int elements)
float	cross_product (MATRIX const *m, int f1, int c1, int f2, int c2)
int	determinant (MATRIX const *m, float *result)
void	diagonal_matrix (MATRIX *m, int dim, float el1, float el2, float el3)
void	initialize_matrix (MATRIX *m, int rows, int cols)
void	initialize_vector (VECTOR *v, int elements)
int	inverse_matrix (MATRIX const *m, MATRIX *n)
int	multiply_matrix_vector (MATRIX const *m, VECTOR const *v, VECTOR *r)
void	print_matrix (char *message, MATRIX const *m)
void	print_vector (char *message, VECTOR const *v)

---

Detailed Description

Matrix class auxiliary functions declaration.

Definition in file sp_matrix.h.

---

Define Documentation

#define DOF   (3)

Definition at line 79 of file sp_matrix.h.

#define FIRST

(

b

)

((b).mat[0])

Definition at line 99 of file sp_matrix.h.

#define M_COMPAT_DIM	(	m,
		n		)	((m).cols == (n).rows)

Definition at line 94 of file sp_matrix.h.

#define M_EQUAL_DIM	(	m,
		n		)	(((m).rows == (n).rows) && ((m).cols == (n).cols))

Definition at line 95 of file sp_matrix.h.

#define M_SQUARE

(

m

)

((m).rows == (m).cols)

Definition at line 93 of file sp_matrix.h.

#define MAX_COLS   (7)

Definition at line 66 of file sp_matrix.h.

#define MAX_ROWS   (7)

Definition at line 65 of file sp_matrix.h.

#define MCOLS

(

m

)

((m).cols)

Definition at line 87 of file sp_matrix.h.

#define MDATA	(	m,
		i,
		j		)	((m).data[i][j])

Definition at line 88 of file sp_matrix.h.

#define MROWS

(

m

)

((m).rows)

Definition at line 86 of file sp_matrix.h.

#define MV_COMPAT_DIM	(	m,
		v		)	((m).cols == (v).elements)

Definition at line 97 of file sp_matrix.h.

#define RANGE

(

b

)

((b).range)

Definition at line 102 of file sp_matrix.h.

#define SECOND

(

b

)

((b).mat[1])

Definition at line 100 of file sp_matrix.h.

#define SQUARE

(

x

)

((x)*(x))

Definition at line 104 of file sp_matrix.h.

#define THIRD

(

b

)

((b).mat[2])

Definition at line 101 of file sp_matrix.h.

#define V_EQUAL_DIM	(	v,
		w		)	(((v).elements == (w).elements))

Definition at line 96 of file sp_matrix.h.

#define VDATA	(	v,
		i		)	((v).data[i])

Definition at line 91 of file sp_matrix.h.

#define VELEMENTS

(

v

)

((v).elements)

Definition at line 90 of file sp_matrix.h.

---

Function Documentation

MATRIX create_matrix	(	int	rows,
		int	cols
	)

Definition at line 53 of file sp_matrix.c.

VECTOR create_vector

(

int

elements

)

Definition at line 119 of file sp_matrix.c.

float cross_product	(	MATRIX const *	m,
		int	f1,
		int	c1,
		int	f2,
		int	c2
	)

Definition at line 177 of file sp_matrix.c.

int determinant	(	MATRIX const *	m,
		float *	result
	)

Definition at line 186 of file sp_matrix.c.

void diagonal_matrix	(	MATRIX *	m,
		int	dim,
		float	el1,
		float	el2,
		float	el3
	)

void initialize_matrix	(	MATRIX *	m,
		int	rows,
		int	cols
	)

Definition at line 76 of file sp_matrix.c.

void initialize_vector	(	VECTOR *	v,
		int	elements
	)

Definition at line 140 of file sp_matrix.c.

int inverse_matrix	(	MATRIX const *	m,
		MATRIX *	n
	)

Definition at line 214 of file sp_matrix.c.

int multiply_matrix_vector	(	MATRIX const *	m,
		VECTOR const *	v,
		VECTOR *	r
	)

Definition at line 271 of file sp_matrix.c.

void print_matrix	(	char *	message,
		MATRIX const *	m
	)

Definition at line 97 of file sp_matrix.c.

void print_vector	(	char *	message,
		VECTOR const *	v
	)

Definition at line 157 of file sp_matrix.c.