Defines some useful matrix operations. 更多...

#include <cmath>
#include <utility>
#include <vector>
#include "Eigen/Dense"
#include "Eigen/SVD"
#include "cyber/common/log.h"

matrix_operations.h 的引用(Include)关系图:

此图展示该文件直接或间接的被哪些文件引用了:

浏览源代码.

命名空间
namespace	apollo::common::math
	apollo::common::math

namespace	apollo
	class register implement

namespace	apollo::common
	apollo::common

函数
template<typename T , unsigned int N>
Eigen::Matrix< T, N, N >	apollo::common::math::PseudoInverse (const Eigen::Matrix< T, N, N > &m, const double epsilon=1.0e-6)
	Computes the Moore-Penrose pseudo-inverse of a given square matrix, rounding all eigenvalues with absolute value bounded by epsilon to zero.

template<typename T , unsigned int M, unsigned int N>
Eigen::Matrix< T, N, M >	apollo::common::math::PseudoInverse (const Eigen::Matrix< T, M, N > &m, const double epsilon=1.0e-6)
	Computes the Moore-Penrose pseudo-inverse of a given matrix, rounding all eigenvalues with absolute value bounded by epsilon to zero.

template<typename T , unsigned int L, unsigned int N, unsigned int O>
bool	apollo::common::math::ContinuousToDiscrete (const Eigen::Matrix< T, L, L > &m_a, const Eigen::Matrix< T, L, N > &m_b, const Eigen::Matrix< T, O, L > &m_c, const Eigen::Matrix< T, O, N > &m_d, const double ts, Eigen::Matrix< T, L, L > ptr_a_d, Eigen::Matrix< T, L, N > ptr_b_d, Eigen::Matrix< T, O, L > ptr_c_d, Eigen::Matrix< T, O, N > ptr_d_d)
	Computes bilinear transformation of the continuous to discrete form for state space representation This assumes equation format of

bool	apollo::common::math::ContinuousToDiscrete (const Eigen::MatrixXd &m_a, const Eigen::MatrixXd &m_b, const Eigen::MatrixXd &m_c, const Eigen::MatrixXd &m_d, const double ts, Eigen::MatrixXd ptr_a_d, Eigen::MatrixXd ptr_b_d, Eigen::MatrixXd ptr_c_d, Eigen::MatrixXd ptr_d_d)

template<typename T , int M, int N, typename D >
void	apollo::common::math::DenseToCSCMatrix (const Eigen::Matrix< T, M, N > &dense_matrix, std::vector< T > data, std::vector< D > indices, std::vector< D > *indptr)

详细描述

Defines some useful matrix operations.

在文件 matrix_operations.h 中定义.

命名空间

函数

详细描述