Defines some useful matrix operations. More...
#include <cmath>#include <utility>#include <vector>#include "Eigen/Dense"#include "Eigen/SVD"#include "cyber/common/log.h"
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Namespaces | |
| apollo::common::math | |
| apollo::common::math | |
| apollo | |
| PlanningContext is the runtime context in planning. It is persistent across multiple frames. | |
| apollo::common | |
| apollo::common | |
Functions | |
| template<typename T , unsigned int N> | |
| Eigen::Matrix< T, N, N > | apollo::common::math::PseudoInverse (const Eigen::Matrix< T, N, N > &m, const double epsilon=1.0e-6) |
| Computes the Moore-Penrose pseudo-inverse of a given square matrix, rounding all eigenvalues with absolute value bounded by epsilon to zero. More... | |
| template<typename T , unsigned int M, unsigned int N> | |
| Eigen::Matrix< T, N, M > | apollo::common::math::PseudoInverse (const Eigen::Matrix< T, M, N > &m, const double epsilon=1.0e-6) |
| Computes the Moore-Penrose pseudo-inverse of a given matrix, rounding all eigenvalues with absolute value bounded by epsilon to zero. More... | |
| template<typename T , unsigned int L, unsigned int N, unsigned int O> | |
| bool | apollo::common::math::ContinuousToDiscrete (const Eigen::Matrix< T, L, L > &m_a, const Eigen::Matrix< T, L, N > &m_b, const Eigen::Matrix< T, O, L > &m_c, const Eigen::Matrix< T, O, N > &m_d, const double ts, Eigen::Matrix< T, L, L > *ptr_a_d, Eigen::Matrix< T, L, N > *ptr_b_d, Eigen::Matrix< T, O, L > *ptr_c_d, Eigen::Matrix< T, O, N > *ptr_d_d) |
| Computes bilinear transformation of the continuous to discrete form for state space representation This assumes equation format of. More... | |
| bool | apollo::common::math::ContinuousToDiscrete (const Eigen::MatrixXd &m_a, const Eigen::MatrixXd &m_b, const Eigen::MatrixXd &m_c, const Eigen::MatrixXd &m_d, const double ts, Eigen::MatrixXd *ptr_a_d, Eigen::MatrixXd *ptr_b_d, Eigen::MatrixXd *ptr_c_d, Eigen::MatrixXd *ptr_d_d) |
| template<typename T , int M, int N, typename D > | |
| void | apollo::common::math::DenseToCSCMatrix (const Eigen::Matrix< T, M, N > &dense_matrix, std::vector< T > *data, std::vector< D > *indices, std::vector< D > *indptr) |
Detailed Description
Defines some useful matrix operations.
