1 #ifndef SimTK_SimTKCOMMON_VECTOR_MATH_H_ 2 #define SimTK_SimTKCOMMON_VECTOR_MATH_H_ 45 #define SimTK_ELEMENTWISE_FUNCTION(func) \ 46 template <class ELEM> \ 47 VectorBase<ELEM> func(const VectorBase<ELEM>& v) { \ 48 const int size = v.size(); \ 49 Vector_<ELEM> temp(size); \ 50 for (int i = 0; i < size; ++i) \ 51 temp[i] = std::func(v[i]); \ 54 template <class ELEM> \ 55 RowVectorBase<ELEM> func(const RowVectorBase<ELEM>& v){\ 56 const int size = v.size(); \ 57 RowVector_<ELEM> temp(size); \ 58 for (int i = 0; i < size; ++i) \ 59 temp[i] = std::func(v[i]); \ 62 template <class ELEM> \ 63 MatrixBase<ELEM> func(const MatrixBase<ELEM>& v) { \ 64 const int rows = v.nrow(), cols = v.ncol(); \ 65 Matrix_<ELEM> temp(rows, cols); \ 66 for (int i = 0; i < rows; ++i) \ 67 for (int j = 0; j < cols; ++j) \ 68 temp(i, j) = std::func(v(i, j)); \ 71 template <int N, class ELEM> \ 72 Vec<N, ELEM> func(Vec<N, ELEM> v) { \ 73 for (int i = 0; i < N; ++i) \ 74 v[i] = std::func(v[i]); \ 77 template <int N, class ELEM> \ 78 Row<N, ELEM> func(Row<N, ELEM> v) { \ 79 for (int i = 0; i < N; ++i) \ 80 v[i] = std::func(v[i]); \ 83 template <int M, int N, class ELEM> \ 84 Mat<M, N, ELEM> func(Mat<M, N, ELEM> v) { \ 85 for (int i = 0; i < M; ++i) \ 86 for (int j = 0; j < N; ++j) \ 87 v(i, j) = std::func(v(i, j)); \ 90 template <int N, class ELEM> \ 91 SymMat<N, ELEM> func(SymMat<N, ELEM> v) { \ 92 for (int i = 0; i < N; ++i) \ 93 for (int j = 0; j <= i; ++j) \ 94 v(i, j) = std::func(v(i, j)); \ 111 #undef SimTK_ELEMENTWISE_FUNCTION 115 template <
class ELEM>
119 template <
class ELEM>
123 template <
class ELEM>
127 template <
int N,
class ELEM>
131 template <
int N,
class ELEM>
135 template <
int M,
int N,
class ELEM>
139 template <
int N,
class ELEM>
146 template <
class ELEM>
150 template <
class ELEM>
154 template <
class ELEM>
158 template <
int N,
class ELEM>
162 template <
int N,
class ELEM>
166 template <
int M,
int N,
class ELEM>
170 template <
int N,
class ELEM>
177 template <
class ELEM>
179 const int size = v.
size();
181 for (
int i = 0; i < size; ++i) {
188 template <
class ELEM>
190 const int size = v.
size();
192 for (
int i = 0; i < size; ++i) {
199 template <
class ELEM>
203 for (
int i = 0; i < cols; ++i)
207 template <
int N,
class ELEM>
210 for (
int i = 0; i < N; ++i) {
217 template <
int N,
class ELEM>
220 for (
int i = 0; i < N; ++i) {
227 template <
int M,
int N,
class ELEM>
230 for (
int i = 0; i < N; ++i)
234 template <
int N,
class ELEM>
237 for (
int i = 1; i < N; ++i)
238 for (
int j = 0; j < i; ++j) {
250 template <
class ELEM>
252 const int size = v.
size();
254 for (
int i = 0; i < size; ++i) {
261 template <
class ELEM>
263 const int size = v.
size();
265 for (
int i = 0; i < size; ++i) {
272 template <
class ELEM>
276 for (
int i = 0; i < cols; ++i)
280 template <
int N,
class ELEM>
283 for (
int i = 0; i < N; ++i) {
290 template <
int N,
class ELEM>
293 for (
int i = 0; i < N; ++i) {
300 template <
int M,
int N,
class ELEM>
303 for (
int i = 0; i < N; ++i)
307 template <
int N,
class ELEM>
310 for (
int i = 1; i < N; ++i)
311 for (
int j = 0; j < i; ++j) {
323 template <
class ELEM>
327 template <
class ELEM>
331 template <
class ELEM>
335 template <
int N,
class ELEM>
339 template <
int N,
class ELEM>
343 template <
int M,
int N,
class ELEM>
347 template <
int N,
class ELEM>
354 template <
class ELEM>
360 template <
class ELEM>
366 template <
class ELEM>
368 const int cols = v.
ncol();
370 for (
int i = 0; i < cols; ++i)
374 template <
int N,
class ELEM>
376 ELEM* pointer =
reinterpret_cast<ELEM*
>(&v);
380 template <
int N,
class ELEM>
382 ELEM* pointer =
reinterpret_cast<ELEM*
>(&v);
386 template <
int M,
int N,
class ELEM>
388 for (
int i = 0; i < N; ++i)
392 template <
int N,
class ELEM>
399 template <
class ELEM,
class RandomAccessIterator>
400 ELEM
median(RandomAccessIterator start, RandomAccessIterator end) {
401 const ptrdiff_t size = (ptrdiff_t)(end-start);
402 RandomAccessIterator mid = start+(size-1)/2;
403 std::nth_element(start, mid, end);
404 if (size%2 == 0 && mid+1 < end) {
410 RandomAccessIterator
min = mid+1;
411 for (RandomAccessIterator iter = mid+1; iter < end; iter++) {
415 return (*mid+*min)/2;
419 template <
class ELEM>
422 return median<ELEM>(temp.
begin(), temp.
end());
424 template <
class ELEM>
427 return median<ELEM>(temp.
begin(), temp.
end());
429 template <
class ELEM>
431 int cols = v.
ncol(), rows = v.
nrow();
434 for (
int i = 0; i < cols; ++i) {
436 temp[i] = median<ELEM>(column);
440 template <
int N,
class ELEM>
442 ELEM* pointer =
reinterpret_cast<ELEM*
>(&v);
443 return median<ELEM>(pointer, pointer+N);
445 template <
int N,
class ELEM>
447 ELEM* pointer =
reinterpret_cast<ELEM*
>(&v);
448 return median<ELEM>(pointer, pointer+N);
450 template <
int M,
int N,
class ELEM>
453 for (
int i = 0; i < N; ++i)
457 template <
int N,
class ELEM>
464 #endif // SimTK_SimTKCOMMON_VECTOR_MATH_H_ VectorIterator< ELT, VectorBase< ELT > > begin()
Definition: VectorBase.h:458
TAbs abs() const
Elementwise absolute value; that is, the return value has the same dimension as this Vec but with eac...
Definition: Vec.h:345
const TDiag & getDiag() const
Definition: SymMat.h:818
EStandard sum() const
Definition: Row.h:254
const E & getEltLower(int i, int j) const
Definition: SymMat.h:838
This is a small, fixed-size symmetric or Hermitian matrix designed for no-overhead inline computation...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:608
This is a dataless rehash of the MatrixBase class to specialize it for RowVectors.
Definition: BigMatrix.h:165
TAbs abs() const
Definition: Row.h:240
ELEM median(RandomAccessIterator start, RandomAccessIterator end)
Definition: VectorMath.h:400
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
Mat< N, N, ELEM > sort(const SymMat< N, ELEM > &v)
Definition: VectorMath.h:393
VectorView_< ELT > updCol(int j)
Definition: BigMatrix.h:261
int size() const
Definition: VectorBase.h:396
ELEM min(const VectorBase< ELEM > &v)
Definition: VectorMath.h:178
SimTK_ELEMENTWISE_FUNCTION(exp) SimTK_ELEMENTWISE_FUNCTION(log) SimTK_ELEMENTWISE_FUNCTION(sqrt) SimTK_ELEMENTWISE_FUNCTION(sin) SimTK_ELEMENTWISE_FUNCTION(cos) SimTK_ELEMENTWISE_FUNCTION(tan) SimTK_ELEMENTWISE_FUNCTION(asin) SimTK_ELEMENTWISE_FUNCTION(acos) SimTK_ELEMENTWISE_FUNCTION(atan) SimTK_ELEMENTWISE_FUNCTION(sinh) SimTK_ELEMENTWISE_FUNCTION(cosh) SimTK_ELEMENTWISE_FUNCTION(tanh) template< class ELEM > VectorBase< typename CNT< ELEM >
Definition: VectorMath.h:98
void abs(TAbs &mabs) const
abs() is elementwise absolute value; that is, the return value has the same dimension as this Matrix ...
Definition: MatrixBase.h:688
ELEM mean(const VectorBase< ELEM > &v)
Definition: VectorMath.h:324
ELEM sum(const VectorBase< ELEM > &v)
Definition: VectorMath.h:147
EStandard sum() const
Sum just adds up all the elements into a single return element that is the same type as this Vec's el...
Definition: Vec.h:364
This is a fixed-length column vector designed for no-overhead inline computation. ...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:605
int nrow() const
Return the number of rows m in the logical shape of this matrix.
Definition: MatrixBase.h:137
ELT sum() const
Definition: VectorBase.h:457
TRow sum() const
This is an alternate name for colSum(); behaves like the Matlab function of the same name...
Definition: SymMat.h:858
RowVector_< ELT > sum() const
Alternate name for colSum(); behaves like the Matlab function sum().
Definition: MatrixBase.h:749
VectorBase< ELEM > sort(const VectorBase< ELEM > &v)
Definition: VectorMath.h:355
ELEM max(const VectorBase< ELEM > &v)
Definition: VectorMath.h:251
VectorIterator< ELT, RowVectorBase< ELT > > begin()
Definition: RowVectorBase.h:298
VectorIterator< ELT, RowVectorBase< ELT > > end()
Definition: RowVectorBase.h:301
TAbs abs() const
Elementwise absolute value; that is, the return value has the same dimensions as this Mat but with ea...
Definition: Mat.h:226
int size() const
Definition: RowVectorBase.h:237
RowVectorBase< typename CNT< ELEM >::TAbs > abs(const RowVectorBase< ELEM > &v)
Definition: VectorMath.h:120
TAbs abs() const
Definition: VectorBase.h:406
This is a fixed-length row vector designed for no-overhead inline computation.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:606
const TCol & col(int j) const
Definition: Mat.h:775
TAbs abs() const
Definition: SymMat.h:195
This is a dataless rehash of the MatrixBase class to specialize it for Vectors.
Definition: BigMatrix.h:164
VectorIterator< ELT, VectorBase< ELT > > end()
Definition: VectorBase.h:461
ELT sum() const
Definition: RowVectorBase.h:297
This class represents a small matrix whose size is known at compile time, containing elements of any ...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:607
This is the common base class for Simbody's Vector_ and Matrix_ classes for handling large...
Definition: BigMatrix.h:163
This is the header which should be included in user programs that would like to make use of all the S...
int ncol() const
Return the number of columns n in the logical shape of this matrix.
Definition: MatrixBase.h:139
Includes internal headers providing declarations for the basic SimTK Core classes.
TRow sum() const
This is an alternate name for colSum(); behaves like the Matlab function of the same name...
Definition: Mat.h:1205
TAbs abs() const
Definition: RowVectorBase.h:247
VectorView_< ELT > col(int j) const
Definition: BigMatrix.h:252