iDynTree::MatrixDynSize class

#include <iDynTree/MatrixDynSize.h>

Derived classes

class FrameFreeFloatingJacobian

Jacobian of the 6D frame velocity.

class FreeFloatingMassMatrix

Class representing the mass matrix of a Free Floating robot.

class FreeFloatingStateLinearization

class MomentumFreeFloatingJacobian

Jacobian of the 6D momentum.

Constructors, destructors, conversion operators

MatrixDynSize()

Default constructor: create a 0x0 matrix.

MatrixDynSize(std::size_t _rows, std::size_t _cols)

Constructor from the rows and columns, all the element assigned to 0.

MatrixDynSize(const double* in_data, const std::size_t in_rows, const std::size_t in_cols)

Constructor from a C-style matrix.

MatrixDynSize(const MatrixDynSize& other)

Copy constructor.

MatrixDynSize(iDynTree::MatrixView<const double> other)

Constructor from MatrixView object.

~MatrixDynSize() virtual

Denstructor.

Public functions

auto operator=(const MatrixDynSize& other) -> MatrixDynSize&

Assignment operator.

auto operator=(iDynTree::MatrixView<const double> other) -> MatrixDynSize&

Assignment operator.

auto data() const -> const double*

Raw data accessor.

auto data() -> double*

Raw data accessor.

void zero()

Assign all element of the matrix to 0.

void resize(const std::size_t _newRows, const std::size_t _newCols)

Change the size of the matrix, without preserving old content.

void reserve(const size_t _newCapacity)

Increase the capacity of the matrix, preserving old content.

auto capacity() const -> size_t

Get the dimension (in doubles) of the buffer to which m_data is pointing.

void shrink_to_fit()

Change the capacity of the matrix such that capacity() == rows()*cols(), preserving old content.

void fillRowMajorBuffer(double* rowMajorBuf) const

Assume that rowMajorBuf is pointing to a buffer of rows()*cols() doubles, and fill it with the content of this matrix, using row major order.

void fillColMajorBuffer(double* colMajorBuf) const

Assume that colMajorBuf is pointing to a buffer of rows()*cols() doubles, and fill it with the content of this matrix, using column major order.

Protected variables

double* m_data

Storage for the MatrixDynSize.

std::size_t m_rows

std::size_t m_cols

std::size_t m_capacity

The buffer to which m_data is pointing is m_capacity*sizeof(double).

Matrix interface methods.

Methods exposing a matrix-like interface to MatrixDynSize.

auto operator()(const std::size_t row, const std::size_t col) const -> double

auto operator()(const std::size_t row, const std::size_t col) -> double&

auto getVal(const std::size_t row, const std::size_t col) const -> double

auto setVal(const std::size_t row, const std::size_t col, const double new_el) -> bool

auto rows() const -> std::size_t

auto cols() const -> std::size_t

Output helpers.

Output helpers.

auto toString() const -> std::string

auto reservedToString() const -> std::string

Function documentation

Variable documentation