Tools for matrix manipulation with GSL. More...

#include "postprocess.h"
#include <math.h>
#include <vector>

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Functions
int	gsl_inverse (gsl_matrix m, gsl_matrix im)
double	gsl_inverse_det (gsl_matrix m, gsl_matrix im)
double	gsl_det (gsl_matrix *m)
gsl_matrix *	colcat (const gsl_matrix a, const gsl_matrix b)
	Concatanate : columnwise.
gsl_matrix *	rowcat (const gsl_matrix a, const gsl_matrix b)
	Concatenate : row-wise.
void	gsl_vector2double_offset (gsl_vector gsl_v, double v, size_t size, size_t offset)
	Concert a gsl_vector to a double[].
void	sub_double (double v, double vi, size_t size, size_t offset)
int	gsl_rank_svd (gsl_matrix *J)
	Calculate rank of matrix using SVD.
int	gsl_inverse_svd (gsl_matrix A, gsl_matrix invA)
	Calculate the inverse of a matrix (size n*m) using SVD.
int	encaps_gsl_inverse_svd (double A[], double invA[], int noc, int nor)
double	gsl_vector_norme (gsl_vector *v)
	norme d'un vecteur
int	gsl_vector_cross_product3D (gsl_vector A, gsl_vector B, gsl_vector *AB)
	cross product
int	gsl_vector_create_row (gsl_vector row, gsl_vector A, gsl_vector *B)
double	norme_diff_vecteur (double v1, double v2, size_t size)
	Calculate the Eucleadian distance between 2 vectors.
void	gsl_vector2double (gsl_vector gsl_v, double v, size_t size)
	copie d'un gsl_vector dans un double[]
void	gsl_matrix2double (gsl_matrix gsl_m, double m, size_t sizei, size_t sizej)
	copie d'un gsl_matrix dans un double[]
void	vect2double (vector< double > &vecA, double *A)
	Convert 1d vector to array of doubles.
void	vectormat2double (vector< vector< double > > &matA, double *A)
	Convert 2d vector to array of doubles.
void	gsl_dbl2matrix (double A, gsl_matrix Matr)
	Convert array of doubles to gsl_matrix.
int	gsl_matrixprod (gsl_matrix A, gsl_matrix B, gsl_matrix *C)
	Calculate Matrix Product.
int	gsl_matrixvecprod (gsl_matrix A, gsl_vector B, gsl_vector *C)
	Calculate Matrix - Vector Product.

Detailed Description

Tools for matrix manipulation with GSL.

Lib des methodes de manipulation de vecteurs et matrices independant de la robotique et de la calib (de data)

Function Documentation

gsl_matrix* colcat	(	const gsl_matrix *	a,
		const gsl_matrix *	b
	)

Concatanate : columnwise.

Referenced by get_matrix_adjoin().

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int encaps_gsl_inverse_svd	(	double	A[],
		double	invA[],
		int	noc,
		int	nor
	)

References gsl_inverse_svd().

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void gsl_dbl2matrix	(	double *	A,
		gsl_matrix *	Matr
	)

Convert array of doubles to gsl_matrix.

Convert an array of double A (of known size) to a gsl_matrix Matr(of known size, equal). The format followed is that Matr->data = A.

Referenced by calc_joint_angle_err().

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double gsl_det ( gsl_matrix * m )

DETERMINANT DE MATRICES GSL

Referenced by get_trans_matrix().

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int gsl_inverse	(	gsl_matrix *	m,
		gsl_matrix *	im
	)

INVERSE DE MATRICE

Referenced by ekf_kalman_gain(), and getRot().

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double gsl_inverse_det	(	gsl_matrix *	m,
		gsl_matrix *	im
	)

int gsl_inverse_svd	(	gsl_matrix *	A,
		gsl_matrix *	invA
	)

Calculate the inverse of a matrix (size n*m) using SVD.

Referenced by encaps_gsl_inverse_svd().

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void gsl_matrix2double	(	gsl_matrix *	gsl_m,
		double *	m,
		size_t	sizei,
		size_t	sizej
	)

copie d'un gsl_matrix dans un double[]

Referenced by calc_collar_angles(), and encaps_vector2rot().

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int gsl_matrixprod	(	gsl_matrix *	A,
		gsl_matrix *	B,
		gsl_matrix *	C
	)

Calculate Matrix Product.

Function that calculates product of two matrices A*B and stores the result in matrix C.

Returns:: 0 if no error. Any other value indicates error.

Referenced by calc_collar_angles(), calc_joint_angle_err(), and calc_pts_in_collar_base_frame().

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int gsl_matrixvecprod	(	gsl_matrix *	A,
		gsl_vector *	B,
		gsl_vector *	C
	)

Calculate Matrix - Vector Product.

Function that calculates product of matrice A with vector B and stores the result in vector C.

Returns:: 0 if no error. Any other value indicates error.

Referenced by calc_joint_angle_err(), and calc_pts_in_collar_base_frame().

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int gsl_rank_svd ( gsl_matrix * J )

Calculate rank of matrix using SVD.

void gsl_vector2double	(	gsl_vector *	gsl_v,
		double *	v,
		size_t	size
	)

copie d'un gsl_vector dans un double[]

Referenced by calc_pts_in_collar_base_frame(), generate_jacobian_femur(), get_fourier_dominant_estimate(), gsl_low_pass_fourier(), and h_femur_encaps().

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void gsl_vector2double_offset	(	gsl_vector *	gsl_v,
		double *	v,
		size_t	size,
		size_t	offset
	)

Concert a gsl_vector to a double[].

int gsl_vector_create_row	(	gsl_vector *	row,
		gsl_vector *	A,
		gsl_vector *	B
	)

int gsl_vector_cross_product3D	(	gsl_vector *	A,
		gsl_vector *	B,
		gsl_vector *	AB
	)

cross product

Referenced by get_matrix_adjoin(), and gramSchmidt().

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double gsl_vector_norme ( gsl_vector * v )

norme d'un vecteur

Referenced by gramSchmidt(), gsl_Rot_matrix2vector(), and gsl_vector2Rot_matrix().

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double norme_diff_vecteur	(	double *	v1,
		double *	v2,
		size_t	size
	)

Calculate the Eucleadian distance between 2 vectors.

Returns:: The 2 norm of

gsl_matrix* rowcat	(	const gsl_matrix *	a,
		const gsl_matrix *	b
	)

Concatenate : row-wise.

void sub_double	(	double *	v,
		double *	vi,
		size_t	size,
		size_t	offset
	)

void vect2double	(	vector< double > &	vecA,
		double *	A
	)

Convert 1d vector to array of doubles.

This function is necessary as gsl functions need vectors and matrices to be expressed in terms of arrays of doubles. The function copies the contents of the vector to an array of doubles.

Referenced by encaps_gsl_linsolveSVD(), get_distri_matrices(), get_trans_matrix(), and main().

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void vectormat2double	(	vector< vector< double > > &	matA,
		double *	A
	)

Convert 2d vector to array of doubles.

This function is necessary as gsl functions need vectors and matrices to be expressed in terms of arrays of doubles. The function copies the contents of matrix to a 1d array of doubles. The data is stored according to the method used by GSL ie. matrix[i][j] is stored in location double[i*numcol+j] where numcol is the number of columns in the matrix.

Referenced by calc_mario_frame_opti(), encaps_gsl_linsolveSVD(), generate_jacobian_femur(), and h_femur_encaps().

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Functions

Detailed Description

Function Documentation