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|
/* +------------------------------------------------------------------------+
| Mobile Robot Programming Toolkit (MRPT) |
| https://www.mrpt.org/ |
| |
| Copyright (c) 2005-2023, Individual contributors, see AUTHORS file |
| See: https://www.mrpt.org/Authors - All rights reserved. |
| Released under BSD License. See: https://www.mrpt.org/License |
+------------------------------------------------------------------------+ */
#include <mrpt/gui.h>
#include <mrpt/math/CMatrixF.h>
#include <mrpt/math/CMatrixFixed.h>
#include <mrpt/math/ops_matrices.h>
#include <mrpt/math/ops_vectors.h>
#include <mrpt/math/utils.h>
#include <mrpt/system/CTicTac.h>
#include <Eigen/Dense>
#include <iostream>
using namespace mrpt;
using namespace mrpt::math;
using namespace mrpt::system;
using namespace std;
#include <mrpt/examples_config.h>
string myDataDir(MRPT_EXAMPLES_BASE_DIRECTORY + string("math_matrix_example/"));
// ------------------------------------------------------
// TestChol
// ------------------------------------------------------
void TestChol()
{
CMatrixFloat A, B;
A.loadFromTextFile(myDataDir + string("in_for_cholesky.txt"));
A.chol(B);
cout << "Cholesky decomposition result:" << endl << B;
}
void TestInitMatrix()
{
// Initialize a matrix from a C array:
const double numbers[] = {1, 2, 3, 4, 5, 6};
CMatrixDouble M(2, 3, numbers);
cout << "Initialized matrix (I): " << endl << M << endl;
const double numbers2[] = {0.5, 4.5, 6.7, 8.9, 15.2};
CVectorDouble v1;
loadVector(v1, numbers2);
cout << "Initialized double vector: " << v1 << endl;
std::vector<int> v2;
loadVector(v2, numbers2);
cout << "Initialized int vector: " << v2 << endl;
/* // I/O Test
CMatrixD B(M);
CFileOutputStream("mat.bin") << B;
CMatrixD A;
CFileInputStream("mat.bin") >> A;
cout << "B:" << endl << B;
cout << "A:" << endl << A;
*/
}
void TestHCH()
{
CMatrixFloat H, C, RES;
cout << "reading H.txt...";
H.loadFromTextFile(myDataDir + string("H.txt"));
cout << "ok" << endl;
cout << "reading C.txt...";
C.loadFromTextFile(myDataDir + string("C.txt"));
cout << "ok" << endl;
// RES = H * C * H'
mrpt::math::multiply_HCHt(H, C, RES);
cout << "Saving RES.txt ...";
RES.saveToTextFile("RES.txt");
cout << "ok" << endl;
// The same for a column vector:
H.loadFromTextFile(myDataDir + string("H_col.txt"));
cout << "H*C*(H') = " << mrpt::math::multiply_HCHt_scalar(H, C) << endl;
cout << "Should be= 31.434 " << endl;
// The same for a row vector:
H.loadFromTextFile(myDataDir + string("H_row.txt"));
cout << "Loaded H: " << endl << H;
cout << "H*C*(H') = " << mrpt::math::multiply_HCHt_scalar(H, C) << endl;
cout << "Should be= 31.434" << endl;
}
void TestMatrixTemplate()
{
CTicTac tictac;
CMatrixDouble M;
// --------------------------------------
M.loadFromTextFile(myDataDir + string("matrixA.txt"));
cout << M << "\n";
CMatrixDouble eigenVectors;
std::vector<double> eigenValues;
M.eig(eigenVectors, eigenValues);
cout << "eigenVectors:\n"
<< eigenVectors << "\n Eigenvalues:\n"
<< eigenValues;
CMatrixDouble D;
D.setDiagonal(eigenValues);
CMatrixDouble RES;
RES = M.asEigen() * D.asEigen() * M.transpose();
cout << "RES:\n" << RES;
}
void TestMatrices()
{
CMatrixFloat m, l;
CTicTac tictac;
double t;
m.setSize(4, 4);
m(0, 0) = 4;
m(0, 1) = -2;
m(0, 2) = -1;
m(0, 3) = 0;
m(1, 0) = -2;
m(1, 1) = 4;
m(1, 2) = 0;
m(1, 3) = -1;
m(2, 0) = -1;
m(2, 1) = 0;
m(2, 2) = 4;
m(2, 3) = -2;
m(3, 0) = 0;
m(3, 1) = -1;
m(3, 2) = -2;
m(3, 3) = 4;
cout << "Matrix:\n" << m << endl;
// I/O test through a text file:
m.saveToTextFile("matrix1.txt");
tictac.Tic();
l.loadFromTextFile(myDataDir + string("matrix1.txt"));
t = tictac.Tac();
cout << "Read (text file) in " << 1e6 * t << "us:\n" << l << endl;
mrpt::math::laplacian(m, l);
cout << "Laplacian:\n" << l << endl;
}
void TestCov()
{
// Initialize a matrix from a C array:
const double numbers[] = {1, 2, 3, 10, 4, 5, 6, 14, 10, -5, -3, 1};
CMatrixDouble Mdyn(4, 3, numbers);
CMatrixFixed<double, 4, 3> Mfix(numbers);
vector<CVectorDouble> samples(4);
for (size_t i = 0; i < 4; i++)
{
samples[i].resize(3);
for (size_t j = 0; j < 3; j++)
samples[i][j] = Mdyn(i, j);
}
cout << "COV (vector of vectors): " << endl
<< mrpt::math::covVector<vector<CVectorDouble>, Eigen::MatrixXd>(
samples)
<< endl;
cout << "COV (mat fix): " << endl << mrpt::math::cov(Mfix) << endl;
cout << "COV (mat dyn): " << endl << mrpt::math::cov(Mdyn) << endl;
}
// ------------------------------------------------------
// MAIN
// ------------------------------------------------------
int main()
{
try
{
TestInitMatrix();
TestMatrixTemplate();
TestMatrices();
TestHCH();
TestChol();
TestCov();
return 0;
}
catch (exception& e)
{
cout << "MRPT exception caught: " << e.what() << endl;
return -1;
}
}
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