rotation-simple.hh File Reference

#include <jrl/mal/boost.hh>
#include <boost/numeric/ublas/triangular.hpp>
#include <boost/numeric/ublas/lu.hpp>
#include <sot/core/debug.hh>
#include "sot/core/api.hh"
#include <list>

Classes
class	MATLAB
class	RotationSimple
class	sotRotationSimpleHouseholder
class	sotRotationSimpleGiven
class	sotRotationComposed
class	sotRotationComposedInExtenso
Defines
#define	SOT_ROTATION_SIMPLE_MULTIPLY(MATRIX_TYPE)
#define	SOT_ROTATION_SIMPLE_MULTIPLY_TRANSPOSE(MATRIX_TYPE)
#define	SOT_ROTATION_DERIVATED_MULTIPLY_VECTOR(VECTOR_TYPE)
#define	SOT_ROTATION_DERIVATED_MULTIPLY_MATRIX(MATRIX_TYPE)
#define	SOT_ROTATION_SIMPLE_TEMPLATE_VECTOR_LIST(A)   A(bubVector) A(bub::vector_range<bubVector>) A(bub::matrix_column<bubMatrix>) A(bub::vector_range<bub::matrix_column<bubMatrix> >) A(__SRS_col_matcolmaj)
#define	SOT_ROTATION_SIMPLE_TEMPLATE_MATRIX_LIST(A)   A(bubMatrix) A(bub::matrix_range<bubMatrix>) A(__SRS_matcolmaj) A( __SRS_rang_matcolmaj) A( __SRS_triadup_rang_matcolmaj) A( __SRS_triadup_rang_mat) A(__SRS_triadup_rang_triup ) A(__SRS_triup)
Typedefs
typedef bub::vector< double >	bubVector
typedef bub::matrix< double >	bubMatrix
typedef bub::matrix< double, bub::column_major >	__SRS_matcolmaj
typedef bub::matrix_range < __SRS_matcolmaj >	__SRS_rang_matcolmaj
typedef bub::triangular_adaptor < bub::matrix_range < bub::matrix< double, bub::column_major > >, bub::upper >	__SRS_triadup_rang_matcolmaj
typedef bub::triangular_adaptor < bub::matrix_range< bubMatrix > , bub::upper >	__SRS_triadup_rang_mat
typedef bub::triangular_adaptor < bub::matrix_range < bub::triangular_matrix < double, bub::upper > >, bub::upper >	__SRS_triadup_rang_triup
typedef bub::triangular_matrix < double, bub::upper >	__SRS_triup
typedef bub::matrix_column < __SRS_matcolmaj >	__SRS_col_matcolmaj
Functions
template<class bubTemplateMatrix >
void	bubClear (const bubTemplateMatrix &m)
template<class bubTemplateMatrix >
void	bubClearMatrix (const bubTemplateMatrix &m)
template<typename bubTemplateMatrix >
void	randMatrix (bubTemplateMatrix &M, const unsigned int row, const unsigned int col)
template<typename bubTemplateVector >
void	randVector (bubTemplateVector &M, const unsigned int row)

---

Define Documentation

#define SOT_ROTATION_DERIVATED_MULTIPLY_MATRIX

(

MATRIX_TYPE

)

Value:

virtual void multiplyRight( MATRIX_TYPE& M ) const  \
  { multiplyRightMatrixTemplate( M ); }   \
  virtual void multiplyLeft( MATRIX_TYPE& M ) const   \
  { multiplyLeftMatrixTemplate( M ); } \
  virtual void multiplyRightTranspose( MATRIX_TYPE& M ) const  \
  { multiplyRightTransposeMatrixTemplate( M ); }   \
  virtual void multiplyLeftTranspose( MATRIX_TYPE& M ) const   \
  { multiplyLeftTransposeMatrixTemplate( M ); }

#define SOT_ROTATION_DERIVATED_MULTIPLY_VECTOR

(

VECTOR_TYPE

)

Value:

virtual void multiplyRight( VECTOR_TYPE& M ) const  \
  { multiplyRightVectorTemplate( M ); }   \
  virtual void multiplyLeft( VECTOR_TYPE& M ) const   \
  { multiplyLeftVectorTemplate( M ); }

#define SOT_ROTATION_SIMPLE_MULTIPLY

(

MATRIX_TYPE

)

Value:

virtual void multiplyRight( MATRIX_TYPE& M ) const = 0; /* M:=P.M */  \
  virtual void multiplyLeft( MATRIX_TYPE& M ) const= 0;   /* M:=M.P */

#define SOT_ROTATION_SIMPLE_MULTIPLY_TRANSPOSE

(

MATRIX_TYPE

)

Value:

virtual void multiplyRightTranspose( MATRIX_TYPE& M ) const = 0; /* M:=P'.M */  \
  virtual void multiplyLeftTranspose( MATRIX_TYPE& M ) const= 0;   /* M:=M.P' */

#define SOT_ROTATION_SIMPLE_TEMPLATE_MATRIX_LIST

(

A

)

A(bubMatrix) A(bub::matrix_range<bubMatrix>) A(__SRS_matcolmaj) A( __SRS_rang_matcolmaj) A( __SRS_triadup_rang_matcolmaj) A( __SRS_triadup_rang_mat) A(__SRS_triadup_rang_triup ) A(__SRS_triup)

#define SOT_ROTATION_SIMPLE_TEMPLATE_VECTOR_LIST

(

A

)

A(bubVector) A(bub::vector_range<bubVector>) A(bub::matrix_column<bubMatrix>) A(bub::vector_range<bub::matrix_column<bubMatrix> >) A(__SRS_col_matcolmaj)

---

Typedef Documentation

typedef bub::matrix_column<__SRS_matcolmaj> __SRS_col_matcolmaj

typedef bub::matrix<double,bub::column_major> __SRS_matcolmaj

typedef bub::matrix_range<__SRS_matcolmaj> __SRS_rang_matcolmaj

typedef bub::triangular_adaptor<bub::matrix_range< bubMatrix >,bub::upper> __SRS_triadup_rang_mat

typedef bub::triangular_adaptor<bub::matrix_range<bub::matrix<double,bub::column_major> >,bub::upper > __SRS_triadup_rang_matcolmaj

typedef bub::triangular_adaptor<bub::matrix_range<bub::triangular_matrix<double,bub::upper> >,bub::upper > __SRS_triadup_rang_triup

typedef bub::triangular_matrix<double,bub::upper> __SRS_triup

typedef bub::matrix<double> bubMatrix

typedef bub::vector<double> bubVector

---

Function Documentation

template<class bubTemplateMatrix >

void bubClear

(

const bubTemplateMatrix &

m

)

Referenced by RotationSimple::multiplyRangeRight().

template<class bubTemplateMatrix >

void bubClearMatrix

(

const bubTemplateMatrix &

m

)

template<typename bubTemplateMatrix >

void randMatrix	(	bubTemplateMatrix &	M,
		const unsigned int	row,
		const unsigned int	col
	)

template<typename bubTemplateVector >

void randVector	(	bubTemplateVector &	M,
		const unsigned int	row
	)