Detailed Description

template<std::size_t N>
class maliput::math::Matrix< N >

A squared N-dimensional matrix.

Template Parameters

N	Indicates the dimension of the matrix. Dimension must be 1x1 or greater.

#include <include/maliput/math/matrix.h>

Public Member Functions
	Matrix ()=default
	Constructs a N x N matrix filled with zeros. More...

	Matrix (const std::initializer_list< double > &values)
	Constructs a N x N matrix from a list of double. More...

	Matrix (const std::initializer_list< Vector< N >> &rows)
	Constructs a N x N matrix from a list of Vector<N>. More...

	Matrix (std::array< Vector< N >, N > rows)
	Constructs a N x N matrix from an array of Vector<N>. More...

	Matrix (const Matrix< N > &other)=default
	Copy constructor. More...

	Matrix (Matrix< N > &&other)=default
	Move constructor. More...

const Vector< N >	row (std::size_t index) const
	Returns the `index`-th row of the matrix. More...

const Vector< N >	col (std::size_t index) const
	Returns the `index`-th column of the matrix. More...

Matrix< N >	transpose () const

Matrix< N - 1 >	reduce (std::size_t row, std::size_t col) const
	Reduce the matrix's dimension. More...

double	cofactor (std::size_t row, std::size_t col) const
	Calculates the cofactor of the element at `row` and `col`. More...

double	determinant () const
	Computes the determinant. More...

bool	is_singular () const
	Determine the singularity. More...

Matrix< N >	cofactor () const

Matrix< N >	adjoint () const

Matrix< N >	inverse () const

Matrix< N > &	operator= (const Matrix< N > &other)
	Assignment operator overload. More...

Matrix< N > &	operator= (const Matrix< N > &&other)
	Move assignment operator overload. More...

const Vector< N > &	operator[] (std::size_t index) const
	Constant subscripting array operator overload. More...

Vector< N > &	operator[] (std::size_t index)
	Subscripting array operator overload. More...

bool	operator== (const Matrix< N > &matrix) const
	Equality operator overload. More...

bool	operator!= (const Matrix< N > &matrix) const
	Inequality operator overload. More...

Matrix< N >	operator+ (const Matrix< N > &matrix) const
	Add operator overload. More...

Matrix< N >	operator- (const Matrix< N > &matrix) const
	Substract operator overload. More...

Matrix< N >	operator* (const Matrix< N > &matrix) const
	Product operator overload between Matrix<N>s. More...

Matrix< N >	operator/ (double k) const
	Divide operator overload between `this` and a scalar. More...

double	cofactor (std::size_t row, std::size_t col) const

Static Public Member Functions
static Matrix< N >	Identity ()

Static Public Attributes
static constexpr double	kTolerance = 1e-15
	Tolerance value to determine the singularity of the matrix. More...

Friends
template<std::size_t N_>
Matrix< N_ >	operator* (const Matrix< N_ > &matrix, double k)
	Product operator overload between a Matrix<N> and a scalar. More...

template<std::size_t N_>
Matrix< N_ >	operator* (double k, const Matrix< N_ > &matrix)
	Product operator overload between a scalar and a Matrix<N>. More...

template<std::size_t N_>
std::ostream &	operator<< (std::ostream &os, const Matrix< N_ > &matrix)
	Serialization operator overload. More...

Constructor & Destructor Documentation

◆ Matrix() [1/6]

Matrix ( )

default

Constructs a N x N matrix filled with zeros.

◆ Matrix() [2/6]

Matrix ( const std::initializer_list< double > & values )

Constructs a N x N matrix from a list of double.

Parameters

values Elements of the matrix. The size of values must match NxN. Elements will fill the matrix's rows from top to bottom.

Exceptions

common::assertion_error	When N is not positive.
common::assertion_error	When `values` size is not NxN.

◆ Matrix() [3/6]

Matrix ( const std::initializer_list< Vector< N >> & rows )

Constructs a N x N matrix from a list of Vector<N>.

Parameters

rows	Rows of the matrix. The size of `rows` must be N. It fills the matrix from the 0-th to N-1-th.

Exceptions

common::assertion_error When rows size is not N.

◆ Matrix() [4/6]

Matrix ( std::array< Vector< N >, N > rows )

Constructs a N x N matrix from an array of Vector<N>.

Parameters

rows	Rows of the matrix. The size of `rows` must match with N. It fills the matrix from top to bottom.

◆ Matrix() [5/6]

Matrix ( const Matrix< N > & other )

default

Copy constructor.

◆ Matrix() [6/6]

Matrix ( Matrix< N > && other )

default

Move constructor.

Member Function Documentation

◆ adjoint()

Matrix< N > adjoint

Returns: The adjoint matrix.

Exceptions

common::assertion_error When N is one.

◆ cofactor() [1/3]

Matrix< N > cofactor

Returns: The cofactor matrix.

Exceptions

common::assertion_error When N is one.

◆ cofactor() [2/3]

double cofactor	(	std::size_t	row,
		std::size_t	col
	)		const

Calculates the cofactor of the element at row and col.

Parameters

row	Index of the matrix's rows. It must be in [0, N).
col	Index of the matrix's cols. It must be in [0, N).

Returns: The cofactor value.

Exceptions

common::assertion_error	When `row` or `col` are not in [0, N).
common::assertion_error	When N is one.

◆ cofactor() [3/3]

double cofactor	(	std::size_t	row,
		std::size_t	col
	)		const

◆ col()

const Vector< N > col ( std::size_t index ) const

Returns the index-th column of the matrix.

Parameters

index Column number. It must be in [0, N).

Returns: A Vector<N>.

Exceptions

common::assertion_error When index is not in the range [0, N).

◆ determinant()

double determinant

Computes the determinant.

Returns: The determinant value.

◆ Identity()

Matrix< N > Identity

static

Returns: A N x N identity matrix.

◆ inverse()

Matrix< N > inverse

Returns: The inverse matrix.

Exceptions

common::assertion_error When matrix is singular.

◆ is_singular()

bool is_singular

Determine the singularity.

Returns: True when this matrix is singular.

◆ operator!=()

bool operator!= ( const Matrix< N > & matrix ) const

Inequality operator overload.

◆ operator*()

Matrix< N > operator* ( const Matrix< N > & matrix ) const

Product operator overload between Matrix<N>s.

◆ operator+()

Matrix< N > operator+ ( const Matrix< N > & matrix ) const

Add operator overload.

◆ operator-()

Matrix< N > operator- ( const Matrix< N > & matrix ) const

Substract operator overload.

◆ operator/()

Matrix< N > operator/ ( double k ) const

Divide operator overload between this and a scalar.

◆ operator=() [1/2]

Matrix< N > & operator= ( const Matrix< N > && other )

Move assignment operator overload.

Parameters

other Matrix<N> object.

◆ operator=() [2/2]

Matrix< N > & operator= ( const Matrix< N > & other )

Assignment operator overload.

Parameters

other Matrix<N> object.

◆ operator==()

bool operator== ( const Matrix< N > & matrix ) const

Equality operator overload.

◆ operator[]() [1/2]

Vector< N > & operator[] ( std::size_t index )

Subscripting array operator overload.

Parameters

index The index of the matrix row. It must be in [0, N).

Returns: A mutable reference to the row at index.

Exceptions

common::assertion_error When index is out of range.

◆ operator[]() [2/2]

const Vector< N > & operator[] ( std::size_t index ) const

Constant subscripting array operator overload.

Parameters

index The index of the matrix row. It must be in [0, N).

Returns: A constant reference of the row at index.

Exceptions

common::assertion_error When index is out of range.

◆ reduce()

Matrix< N - 1 > reduce	(	std::size_t	row,
		std::size_t	col
	)		const

Reduce the matrix's dimension.

N must be at least 2 to be reducible.

Parameters

row	Is the number of the row to be removed. It must be in [0, N).
col	Is the number of the column to be removed. It must be in [0, N).

Returns: A Matrix<N-1> which is the result of removing the row-th row and col-th column.

Exceptions

common::assertion_error	When `row` or `col` are not in [0, N).
common::assertion_error	When N is less than two.

◆ row()

const Vector< N > row ( std::size_t index ) const

Returns the index-th row of the matrix.

Parameters

index Row number. It must be in [0, N).

Returns: A Vector<N>.

Exceptions

common::assertion_error When index is not in the range [0, N).

◆ transpose()

Matrix< N > transpose

Returns: A Matrix<N> whose elements match this transpose.

Friends And Related Function Documentation

◆ operator* [1/2]

Matrix<N_> operator*	(	const Matrix< N_ > &	matrix,
		double	k
	)

friend

Product operator overload between a Matrix<N> and a scalar.

◆ operator* [2/2]

Matrix<N_> operator*	(	double	k,
		const Matrix< N_ > &	matrix
	)

friend

Product operator overload between a scalar and a Matrix<N>.

◆ operator<<

std::ostream& operator<<	(	std::ostream &	os,
		const Matrix< N_ > &	matrix
	)

friend

Serialization operator overload.

Member Data Documentation

◆ kTolerance

constexpr double kTolerance = 1e-15

staticconstexpr

Tolerance value to determine the singularity of the matrix.

The documentation for this class was generated from the following files:

Detailed Description

template<std::size_t N> class maliput::math::Matrix< N >

Public Member Functions

Static Public Member Functions

Static Public Attributes

Friends

Constructor & Destructor Documentation

◆ Matrix() [1/6]

◆ Matrix() [2/6]

◆ Matrix() [3/6]

◆ Matrix() [4/6]

◆ Matrix() [5/6]

◆ Matrix() [6/6]

Member Function Documentation

◆ adjoint()

◆ cofactor() [1/3]

◆ cofactor() [2/3]

◆ cofactor() [3/3]

◆ col()

◆ determinant()

◆ Identity()

◆ inverse()

◆ is_singular()

◆ operator!=()

◆ operator*()

◆ operator+()

◆ operator-()

◆ operator/()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ reduce()

◆ row()

◆ transpose()

Friends And Related Function Documentation

◆ operator* [1/2]

◆ operator* [2/2]

◆ operator<<

Member Data Documentation

◆ kTolerance

template<std::size_t N>
class maliput::math::Matrix< N >