115 lines
2.3 KiB
C++
115 lines
2.3 KiB
C++
/**
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* @file Vector.h
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* @brief typedef and functions to augment Boost's ublas::vector<double>
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* @author Kai Ni
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* @author Frank Dellaert
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*/
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// \callgraph
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#pragma once
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#include <boost/numeric/ublas/vector.hpp>
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#include <boost/random/linear_congruential.hpp>
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// Vector is a *global* typedef
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// wrap-matlab does this typedef as well
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#if ! defined (MEX_H)
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typedef boost::numeric::ublas::vector<double> Vector;
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#endif
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namespace gtsam {
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void odprintf(const char *format, ...);
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/**
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* constructor with size and initial data, row order !
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*/
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Vector Vector_( size_t m, const double* const data);
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/**
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* nice constructor, dangerous as number of arguments must be exactly right
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* and you have to pass doubles !!! always use 0.0 never 0
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*/
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Vector Vector_(size_t m, ...);
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/**
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* Create zero vector
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* @ param size
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*/
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Vector zero(size_t n);
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/**
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* check if all zero
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*/
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bool zero(const Vector& v);
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/**
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* print with optional string
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*/
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void print(const Vector& v, const std::string& s = "");
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/**
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* returns a string suitable for printing
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*/
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std::string dump(const Vector& v);
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/**
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* operator==()
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*/
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bool operator==(const Vector& vec1,const Vector& vec2);
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/**
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* VecA == VecB up to tolerance
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*/
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bool equal_with_abs_tol(const Vector& vec1, const Vector& vec2, double tol=1e-9);
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/**
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* Same, prints if error
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* @param vec1 Vector
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* @param vec2 Vector
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* @param tol 1e-9
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* @return bool
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*/
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bool assert_equal(const Vector& vec1, const Vector& vec2, double tol=1e-9);
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/**
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* vector multiplication by scalar
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inline Vector operator*(double s, const Vector& vec ) {
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return vec*s;
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}
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*/
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/**
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* extract subvector, slice semantics, i.e. range = [i1,i2[ excluding i2
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* @param v Vector
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* @param i1 first row index
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* @param i2 last row index + 1
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* @return subvector v(i1:i2)
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*/
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Vector sub(const Vector &v, size_t i1, size_t i2);
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/**
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* house(x,j) computes HouseHolder vector v and scaling factor beta
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* from x, such that the corresponding Householder reflection zeroes out
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* all but x.(j), j is base 0. Golub & Van Loan p 210.
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*/
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std::pair<double,Vector> house(Vector &x);
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/**
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* concatenate Vectors
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*/
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Vector concatVectors(size_t nrVectors, ...);
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/**
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* random vector
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*/
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Vector rand_vector_norm(size_t dim, double mean = 0, double sigma = 1);
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} // namespace gtsam
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static boost::minstd_rand generator(42u);
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