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Template Matx solve(const Matx& rhs, int flags=DECOMP_LU) const Template Matx get_minor(int i, int j) const ! dot product computed in double-precision arithmetics ! dot product computed with the default precision The value range of ATAN2(a,b) is between -pi and pi (excluding -pi), while ATAN(a/The value range of b) is between -pi/2 and pi/2 (not including ±pi/2). However, the value range of ATAN2(a, b) and ATAN(a/b) is slightly different. It is to find the radian value corresponding to the tangent value X/Y. The meaning of atan2(X,Y) is the same as that of atan(X/Y). Using Push is too slow, let's traverse twice Return the subscript greater than value in the array, return the index By default, a value greater than 0 is returned.//A matrix of X *1, row first!Įigen::MatrixXf CEkfSlam::find(Eigen::MatrixXf &M) * Find all non-zero elements in the matrix X, and return the linear indices of these elements (linear indices: by column) to the vector. The output vector v (sparse matrix) contains non-zero elements of the logical matrix obtained by evaluating the X representation. If X is a logical representation, then v is a logical matrix. * Returns a column or row vector v of non-zero elements in X, and returns the index value of the row and column. In other words, (the first page has 7 columns) + (the second page has 7 columns) + (the third page has 2 columns) = 16. If X is an N (N>2) dimensional matrix, col includes the linear index of the column.įor example, if a 5*7*3 matrix X has a non-zero element X (4, 2, 3), the find function will return row=4 and col=16. This syntax is especially useful for processing sparse matrices. * Returns the index value of the row and column of the non-zero element in the matrix X. * Returns the index value of the last non-zero element k. * Return a vector of non-zero element row index values in X*/ K must be a positive number, but it can be any numeric value type. * Returns the index value of the first non-zero element k.
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If X contains no non-zero elements or is an empty matrix, then ind is an empty matrix. If X is a row vector, then ind is a row vector otherwise, ind is a column vector. * Find all the non-zero elements in the matrix X, and return the linear indices (linear indices: by column) of these elements to the vector ind. R=size(A,1) the number of rows of matrix A returned by this statement, c=size(A,2) the number of columns of matrix A returned by this statement. Size(): Get the number of rows and columns of the matrix The minimum precision eps(N) increases with the order of magnitude, eps also gradually increases
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eps is the minimum precision of MATLAB eps is the relative error limit of floating point, which refers to the smallest constant used by the computer to distinguish the difference between two numbers Initial state vector and covariance matrix Int initialize_x_and_p(Eigen::MatrixXf &x_k_k,Eigen::MatrixXf &p_k_k) Initialize the state vector and state covariance