raisim::MatDyn

class · #include <raisim/math.hpp>

Inherits: raisim::DynamicArray

Dynamically sized matrix of doubles, stored column-major: element (i, j) is v[i + j *rows()].

n is the number of rows and m the number of columns. resize() reallocates and does not preserve the contents; newly allocated elements are uninitialized. e() returns an Eigen map that aliases the same memory.

Constructors & destructor

MatDyn

MatDyn() = default

MatDyn(size_t rows, size_t cols)

Allocates a rows x cols matrix with uninitialized elements.

Parameters

Parameter	Description
rows (in)	number of rows
cols (in)	number of columns

MatDyn(const MatDyn &mat)

Deep copy.

Parameters

Parameter	Description
mat (in)	matrix to copy

Public member functions

size

size_t size() const

Returns number of elements, rows() * cols().

rows

size_t rows() const

Returns number of rows.

cols

size_t cols() const

Returns number of columns.

e

Eigen::Map<Eigen::Matrix<double, -1, -1>> e()

Returns Eigen map aliasing this matrix's memory (writes go to this matrix).

const Eigen::Map<const Eigen::Matrix<double, -1, -1>> e() const

Returns read-only Eigen map aliasing this matrix's memory.

operator()

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

Parameters

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

Returns element (i, j) (no bounds check).

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

Parameters

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

Returns reference to element (i, j) (no bounds check).

resize

void resize(size_t rows, size_t cols)

Reallocates to rows x cols. The previous contents are discarded and the new elements are uninitialized.

Parameters

Parameter	Description
rows (in)	number of rows
cols (in)	number of columns

fillSub

template <size_t j, size_t k>
void fillSub(size_t startRow, size_t startColumn, const Mat<j, k> &in)

Copies in into a block of this matrix. Bounds are checked only in debug (RSDEBUG) builds.

Parameters

Parameter	Description
startRow (in)	row of the block's top-left element
startColumn (in)	column of the block's top-left element
in (in)	block values

template <size_t j>
void fillSub(size_t startRow, size_t startColumn, const Vec<j> &in)

Copies in into a column segment of this matrix. No bounds check.

Parameters

Parameter	Description
startRow (in)	row of the first element
startColumn (in)	column to write
in (in)	segment values

fillSubSkewSym

void fillSubSkewSym(size_t startRow, size_t startColumn, const Vec<3> &in)

Writes the skew-symmetric (cross-product) matrix of in, [in]x with [in]x * a = in x a, into the 3x3 block at (startRow, startColumn). Only the six off-diagonal entries are written; the block's diagonal is left untouched. No bounds check.

Parameters

Parameter	Description
startRow (in)	row of the block's top-left element
startColumn (in)	column of the block's top-left element
in (in)	3D vector

fillSubSkewSymTransposed

void fillSubSkewSymTransposed(
    size_t startRow,
    size_t startColumn,
    Vec<3> &in)

Like fillSubSkewSym() but writes the transpose, -[in]x. The block's diagonal is left untouched. No bounds check.

Parameters

Parameter	Description
startRow (in)	row of the block's top-left element
startColumn (in)	column of the block's top-left element
in (in)	3D vector

fillSubTransposed

template <size_t j, size_t k>
void fillSubTransposed(
    size_t startRow,
    size_t startColumn,
    const Mat<j, k> &in)

Copies the transpose of in into a block of this matrix. Bounds are checked only in debug builds.

Parameters

Parameter	Description
startRow (in)	row of the block's top-left element
startColumn (in)	column of the block's top-left element
in (in)	matrix whose transpose is written

template <size_t j>
void fillSubTransposed(
    size_t startRow,
    size_t startColumn,
    const Vec<j> &in)

Copies in into a row segment of this matrix. No bounds check.

Parameters

Parameter	Description
startRow (in)	row to write
startColumn (in)	column of the first element
in (in)	segment values

setIdentity

void setIdentity()

Sets ones on the main diagonal and zeros elsewhere (also valid for non-square matrices).

setZero

void setZero()

Sets all elements to zero.

void setZero(size_t rows, size_t cols)

Resizes to rows x cols (discarding the contents) and sets all elements to zero.

Parameters

Parameter	Description
rows (in)	number of rows
cols (in)	number of columns

setConstant

void setConstant(double cValue)

Sets all elements to cValue.

Parameters

Parameter	Description
cValue (in)	value

sum

double sum() const

Returns sum of all elements.

operator=

template <size_t rows, size_t cols>
MatDyn &operator=(const Mat<rows, cols> &rhs)

Copies a fixed-size Mat, resizing this matrix if needed.

Parameters

Parameter	Description
rhs (in)	matrix to copy

Returns *this

template <int rows, int cols>
MatDyn &operator=(const Eigen::Matrix<double, rows, cols> &rhs)

Copies an Eigen matrix, resizing this matrix if needed.

Parameters

Parameter	Description
rhs (in)	matrix to copy

Returns *this

MatDyn &operator=(const MatDyn &rhs)

Deep copy; resizes this matrix if the dimensions differ.

Parameters

Parameter	Description
rhs (in)	matrix to copy

Returns *this

operator*=

void operator*=(double val)

Multiplies every element by val.

Parameters

Parameter	Description
val (in)	scale factor

Public attributes

n

size_t n

Number of rows. Use resize() instead of writing it directly.

m

size_t m

Number of columns. Use resize() instead of writing it directly.

Inherited members

From raisim::DynamicArray: data, operator[], ptr, v