raisim::BlockRef

class · #include <raisim/math/Blocks.hpp>

Inherits: raisim::MatExpr< BlockRef< T, n, m > >

template <class T, size_t n, size_t m>
class BlockRef

Fixed-size n x m block view of a matrix, returned by Mat::segment(), Mat::head(), Mat::tail(), Mat::block() and the corner accessors. Reads and writes go to the referenced matrix; for a const matrix the accessors return by value. No bounds checking is done.

Public types

SelfType

typedef BlockRef<T, n, m> SelfType

This type.

MutableRef

using MutableRef = std::conditional_t<std::is_const<T>::value, double, double &>

double& for a mutable referenced matrix, double for a const one.

Constructors & destructor

BlockRef

BlockRef(T &array, size_t r_s, size_t c_s)

Parameters

Parameter	Description
array (in)	referenced matrix
r_s (in)	row of the block's top-left element
c_s (in)	column of the block's top-left element

Public member functions

operator()

double operator()(size_t i) const

Parameters

Parameter	Description
i (in)	column-major linear index into the block

Returns element i of the block in column-major linear order.

MutableRef operator()(size_t i)

Parameters

Parameter	Description
i (in)	column-major linear index into the block

Returns element i of the block in column-major linear order.

double operator()(size_t i, size_t j) const

Parameters

Parameter	Description
i (in)	row index
j (in)	column index

Returns element (i, j) of the block.

MutableRef operator()(size_t i, size_t j)

Parameters

Parameter	Description
i (in)	row index
j (in)	column index

Returns element (i, j) of the block.

operator[]

double operator[](size_t i) const

Parameters

Parameter	Description
i (in)	column-major linear index into the block

Returns element i of the block in column-major linear order.

MutableRef operator[](size_t i)

Parameters

Parameter	Description
i (in)	column-major linear index into the block

Returns element i of the block in column-major linear order.

Static member functions

size static

static constexpr size_t size()

Returns number of elements, n * m.

rows static

static constexpr size_t rows()

Returns number of rows, n.

cols static

static constexpr size_t cols()

Returns number of columns, m.

Public attributes

ref

T &ref

Referenced matrix.

rowStart

size_t rowStart

Row of the block's top-left element in the referenced matrix.

colStart

size_t colStart

Column of the block's top-left element in the referenced matrix.