math.cpp File Reference

#include <yarp/os/LogComponent.h>
#include <yarp/math/Math.h>
#include <yarp/math/SVD.h>
#include <yarp/math/Quaternion.h>
#include <yarp/eigen/Eigen.h>
#include <Eigen/Eigenvalues>
#include <cmath>
#include <cassert>

Include dependency graph for math.cpp:

Go to the source code of this file.

Functions
Vector	operator+ (const Vector &a, const double &s)
	Mathematical operations. More...
Vector	operator+ (const double &s, const Vector &a)
	Addition operator between a scalar and a vector (defined in Math.h). More...
Vector &	operator+= (Vector &a, const double &s)
	Addition operator between a scalar and a vector (defined in Math.h). More...
Vector	operator+ (const Vector &a, const Vector &b)
	Addition operator between vectors, returns a+b (defined in Math.h). More...
Vector &	operator+= (Vector &a, const Vector &b)
	Addition operator between vectors, returns a+b (defined in Math.h). More...
Matrix	operator+ (const Matrix &a, const Matrix &b)
	Addition operator between matrices, returns a+b (defined in Math.h). More...
Matrix &	operator+= (Matrix &a, const Matrix &b)
	Addition operator between matrices, returns a+b (defined in Math.h). More...
Vector	operator- (const Vector &a, const double &s)
	Subtraction operator between a vector and a scalar (defined in Math.h). More...
Vector	operator- (const double &s, const Vector &a)
	Subtraction operator between a scalar and a vector (defined in Math.h). More...
Vector &	operator-= (Vector &a, const double &s)
	Subtraction operator between a vector and a scalar (defined in Math.h). More...
Vector	operator- (const Vector &a, const Vector &b)
	Subtraction operator between vectors, returns a-b (defined in Math.h). More...
Vector &	operator-= (Vector &a, const Vector &b)
	Subtraction operator between vectors, returns a-b (defined in Math.h). More...
Matrix	operator- (const Matrix &a, const Matrix &b)
	Subtraction operator between matrices, returns a-b (defined in Math.h). More...
Matrix &	operator-= (Matrix &a, const Matrix &b)
	Subtraction operator between matrices, returns a-b (defined in Math.h). More...
Vector	operator* (double k, const Vector &b)
	Scalar-vector product operator (defined in Math.h). More...
Vector	operator* (const Vector &a, double k)
	Vector-scalar product operator (defined in Math.h). More...
Vector &	operator*= (Vector &a, double k)
	Vector-scalar product operator (defined in Math.h). More...
Vector	operator* (const Vector &a, const Matrix &m)
	Vector-matrix product operator (defined in Math.h). More...
Vector &	operator*= (Vector &a, const Matrix &m)
	Vector-matrix product operator (defined in Math.h). More...
Vector	operator* (const Matrix &m, const Vector &a)
	Matrix-vector product operator (defined in Math.h). More...
Matrix	operator* (const Matrix &a, const Matrix &b)
	Matrix-matrix product operator (defined in Math.h). More...
Matrix &	operator*= (Matrix &a, const Matrix &b)
	Matrix-matrix product operator (defined in Math.h). More...
Matrix	operator* (const double k, const Matrix &M)
	Scalar-matrix product operator (defined in Math.h). More...
Matrix	operator* (const Matrix &M, const double k)
	Matrix-scalar product operator (defined in Math.h). More...
Matrix &	operator*= (Matrix &M, const double k)
	Matrix-scalar product operator (defined in Math.h). More...
Vector	operator* (const Vector &a, const Vector &b)
	Vector-vector element-wise product operator (defined in Math.h). More...
Vector &	operator*= (Vector &a, const Vector &b)
	Vector-vector element-wise product operator (defined in Math.h). More...
Quaternion	operator* (const Quaternion &a, const Quaternion &b)
	Quaternion-quaternion hamilton product operator (defined in Math.h). More...
Vector	operator/ (const Vector &a, const Vector &b)
	Vector-vector element-wise division operator (defined in Math.h). More...
Vector &	operator/= (Vector &a, const Vector &b)
	Vector-vector element-wise division operator (defined in Math.h). More...
Vector	operator/ (const Vector &b, double k)
	Vector-scalar division operator (defined in Math.h). More...
Vector &	operator/= (Vector &b, double k)
	Vector-scalar division operator (defined in Math.h). More...
Matrix	operator/ (const Matrix &M, const double k)
	Matrix-scalar division operator (defined in Math.h). More...
Matrix &	operator/= (Matrix &M, const double k)
	Matrix-scalar division operator (defined in Math.h). More...

Function Documentation

operator*() [1/9]

Matrix operator*	(	const double	k,
		const yarp::sig::Matrix &	M
	)

Scalar-matrix product operator (defined in Math.h).

Parameters

k	a scalar
M	a matrix

Returns

k*M

Definition at line 208 of file math.cpp.

operator*() [2/9]

Matrix operator*	(	const yarp::sig::Matrix &	a,
		const yarp::sig::Matrix &	b
	)

Matrix-matrix product operator (defined in Math.h).

Parameters

a	a matrix
b	a matrix

Returns

a*b

Definition at line 187 of file math.cpp.

operator*() [3/9]

Matrix operator*	(	const yarp::sig::Matrix &	M,
		const double	k
	)

Matrix-scalar product operator (defined in Math.h).

Parameters

M	a matrix
k	a scalar

Returns

M*k

Definition at line 214 of file math.cpp.

operator*() [4/9]

Vector operator*	(	const yarp::sig::Matrix &	m,
		const yarp::sig::Vector &	a
	)

Matrix-vector product operator (defined in Math.h).

Parameters

a	is a vector (interpreted as a column)
m	is a matrix

Returns

m*a

Definition at line 177 of file math.cpp.

operator*() [5/9]

Quaternion operator*	(	const yarp::math::Quaternion &	a,
		const yarp::math::Quaternion &	b
	)

Quaternion-quaternion hamilton product operator (defined in Math.h).

reference: "Stevens, Brian L., Frank L. Lewis, Aircraft Control and Simulation, Wiley–Interscience, 2nd Edition".

Parameters

a	a quaternion
b	a quaternion

Returns

a*b

Definition at line 242 of file math.cpp.

operator*() [6/9]

Vector operator*	(	const yarp::sig::Vector &	a,
		const yarp::sig::Matrix &	m
	)

Vector-matrix product operator (defined in Math.h).

Parameters

a	is a vector (interpreted as a row)
m	is a matrix

Returns

a*m

Definition at line 156 of file math.cpp.

operator*() [7/9]

Vector operator*	(	const yarp::sig::Vector &	a,
		const yarp::sig::Vector &	b
	)

Vector-vector element-wise product operator (defined in Math.h).

Parameters

a	a vector
b	a vector

Returns

a.*b (matlab notation)

Definition at line 227 of file math.cpp.

operator*() [8/9]

Vector operator*	(	const yarp::sig::Vector &	b,
		double	k
	)

Vector-scalar product operator (defined in Math.h).

Parameters

b	a vector
k	a scalar

Returns

b*k

Definition at line 142 of file math.cpp.

operator*() [9/9]

Vector operator*	(	double	k,
		const yarp::sig::Vector &	b
	)

Scalar-vector product operator (defined in Math.h).

Parameters

k	a scalar
b	vector

Returns

k*b

Definition at line 137 of file math.cpp.

operator*=() [1/5]

Matrix& operator*=	(	yarp::sig::Matrix &	a,
		const yarp::sig::Matrix &	b
	)

Matrix-matrix product operator (defined in Math.h).

Parameters

a	a matrix
b	a matrix

Returns

a*b

Definition at line 197 of file math.cpp.

operator*=() [2/5]

Matrix& operator*=	(	yarp::sig::Matrix &	M,
		const double	k
	)

Matrix-scalar product operator (defined in Math.h).

Parameters

M	a matrix
k	a scalar

Returns

M*k

Definition at line 219 of file math.cpp.

operator*=() [3/5]

Vector& operator*=	(	yarp::sig::Vector &	a,
		const yarp::sig::Matrix &	m
	)

Vector-matrix product operator (defined in Math.h).

Parameters

a	is a vector (interpreted as a row)
m	is a matrix

Returns

a*m

Definition at line 166 of file math.cpp.

operator*=() [4/5]

Vector& operator*=	(	yarp::sig::Vector &	a,
		const yarp::sig::Vector &	b
	)

Vector-vector element-wise product operator (defined in Math.h).

Parameters

a	a vector
b	a vector

Returns

a.*b (matlab notation)

Definition at line 233 of file math.cpp.

operator*=() [5/5]

Vector& operator*=	(	yarp::sig::Vector &	b,
		double	k
	)

Vector-scalar product operator (defined in Math.h).

Parameters

b	a vector
k	a scalar

Returns

b*k

Definition at line 148 of file math.cpp.

operator+() [1/4]

Vector operator+	(	const double &	s,
		const yarp::sig::Vector &	a
	)

Addition operator between a scalar and a vector (defined in Math.h).

Sum the scalar to all the elements of the vector.

Definition at line 36 of file math.cpp.

operator+() [2/4]

Matrix operator+	(	const Matrix &	a,
		const Matrix &	b
	)

Addition operator between matrices, returns a+b (defined in Math.h).

Definition at line 64 of file math.cpp.

operator+() [3/4]

Vector operator+	(	const yarp::sig::Vector &	a,
		const double &	s
	)

Mathematical operations.

Addition operator between a scalar and a vector (defined in Math.h). Sum the scalar to all the elements of the vector.

Definition at line 30 of file math.cpp.

operator+() [4/4]

Vector operator+	(	const Vector &	a,
		const Vector &	b
	)

Addition operator between vectors, returns a+b (defined in Math.h).

Definition at line 49 of file math.cpp.

operator+=() [1/3]

Matrix& operator+=	(	Matrix &	a,
		const Matrix &	b
	)

Addition operator between matrices, returns a+b (defined in Math.h).

Definition at line 70 of file math.cpp.

operator+=() [2/3]

Vector& operator+=	(	yarp::sig::Vector &	a,
		const double &	s
	)

Addition operator between a scalar and a vector (defined in Math.h).

Sum the scalar to all the elements of the vector.

Definition at line 41 of file math.cpp.

operator+=() [3/3]

Vector& operator+=	(	Vector &	a,
		const Vector &	b
	)

Addition operator between vectors, returns a+b (defined in Math.h).

Definition at line 55 of file math.cpp.

operator-() [1/4]

Vector operator-	(	const double &	s,
		const yarp::sig::Vector &	a
	)

Subtraction operator between a scalar and a vector (defined in Math.h).

Multiply the vector by -1 and sum the scalar to the result.

Definition at line 87 of file math.cpp.

operator-() [2/4]

Matrix operator-	(	const Matrix &	a,
		const Matrix &	b
	)

Subtraction operator between matrices, returns a-b (defined in Math.h).

Definition at line 119 of file math.cpp.

operator-() [3/4]

Vector operator-	(	const yarp::sig::Vector &	a,
		const double &	s
	)

Subtraction operator between a vector and a scalar (defined in Math.h).

Subtract the scalar to all the elements of the vector.

Definition at line 81 of file math.cpp.

operator-() [4/4]

Vector operator-	(	const Vector &	a,
		const Vector &	b
	)

Subtraction operator between vectors, returns a-b (defined in Math.h).

Definition at line 104 of file math.cpp.

operator-=() [1/3]

Matrix& operator-=	(	Matrix &	a,
		const Matrix &	b
	)

Subtraction operator between matrices, returns a-b (defined in Math.h).

Definition at line 125 of file math.cpp.

operator-=() [2/3]

Vector& operator-=	(	yarp::sig::Vector &	a,
		const double &	s
	)

Subtraction operator between a vector and a scalar (defined in Math.h).

Subtract the scalar to all the elements of the vector.

Definition at line 96 of file math.cpp.

operator-=() [3/3]

Vector& operator-=	(	Vector &	a,
		const Vector &	b
	)

Subtraction operator between vectors, returns a-b (defined in Math.h).

Definition at line 110 of file math.cpp.

operator/() [1/3]

Matrix operator/	(	const yarp::sig::Matrix &	M,
		double	k
	)

Matrix-scalar division operator (defined in Math.h).

Parameters

M	a matrix
k	a scalar

Returns

M./k (matlab notation)

Definition at line 280 of file math.cpp.

operator/() [2/3]

Vector operator/	(	const yarp::sig::Vector &	a,
		const yarp::sig::Vector &	b
	)

Vector-vector element-wise division operator (defined in Math.h).

Parameters

a	a vector
b	a vector

Returns

a./b (matlab notation)

Definition at line 250 of file math.cpp.

operator/() [3/3]

Vector operator/	(	const yarp::sig::Vector &	b,
		double	k
	)

Vector-scalar division operator (defined in Math.h).

Parameters

b	a vector
k	a scalar

Returns

b/k

Definition at line 265 of file math.cpp.

operator/=() [1/3]

Matrix& operator/=	(	yarp::sig::Matrix &	M,
		double	k
	)

Matrix-scalar division operator (defined in Math.h).

Parameters

M	a matrix
k	a scalar

Returns

M./k (matlab notation)

Definition at line 286 of file math.cpp.

operator/=() [2/3]

Vector& operator/=	(	yarp::sig::Vector &	a,
		const yarp::sig::Vector &	b
	)

Vector-vector element-wise division operator (defined in Math.h).

Parameters

a	a vector
b	a vector

Returns

a./b (matlab notation)

Definition at line 256 of file math.cpp.

operator/=() [3/3]

Vector& operator/=	(	yarp::sig::Vector &	b,
		double	k
	)

Vector-scalar division operator (defined in Math.h).

Parameters

b	a vector
k	a scalar

Returns

b/k

Definition at line 271 of file math.cpp.