#include <gsl/gsl_linalg.h>
#include <yarp/sig/Matrix.h>
#include <yarp/sig/Vector.h>
#include <yarp/math/RandScalar.h>
#include <yarp/math/RandnScalar.h>

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Namespaces
namespace	iCub
	This file contains the definition of unique IDs for the body parts and the skin parts of the robot.

namespace	iCub::learningmachine

namespace	iCub::learningmachine::math

Functions
void	iCub::learningmachine::math::dchud (double r, int ldr, int p, double x, double z, int ldz, int nz, double y, double rho, double c, double *s, unsigned char rtrans=0, unsigned char ztrans=0)
	Mathematical helper functions for use in the learningMachine library.

void	iCub::learningmachine::math::gsl_linalg_cholesky_update (gsl_matrix R, gsl_vector x, gsl_vector c, gsl_vector s, gsl_matrix Z=NULL, gsl_vector y=NULL, gsl_vector *rho=NULL, unsigned char rtrans=0, unsigned char ztrans=0)

void	iCub::learningmachine::math::cholupdate (yarp::sig::Matrix &R, const yarp::sig::Vector &x, yarp::sig::Vector &c, yarp::sig::Vector &s, yarp::sig::Matrix &Z, const yarp::sig::Vector &y, yarp::sig::Vector &rho, bool rtrans=0, bool ztrans=0)
	Perform a rank-1 update to a Cholesky factor, while updating additional vectors using the used Given's rotations and updating the norm of residuals.

void	iCub::learningmachine::math::cholupdate (yarp::sig::Matrix &R, const yarp::sig::Vector &x, bool rtrans=0)
	Perform a rank-1 update to a Cholesky factor.

void	iCub::learningmachine::math::cholsolve (const yarp::sig::Matrix &R, const yarp::sig::Matrix &B, yarp::sig::Matrix &X)
	Solves a system A*x=b for multiple row vectors in B using a precomputed Cholesky factor R.

yarp::sig::Matrix	iCub::learningmachine::math::cholsolve (const yarp::sig::Matrix &R, const yarp::sig::Matrix &B)
	Solves a system A*x=b for multiple row vectors in B using a precomputed Cholesky factor R.

void	iCub::learningmachine::math::cholsolve (const yarp::sig::Matrix &R, const yarp::sig::Vector &b, yarp::sig::Vector &x)
	Solves a system A*x=b for using a precomputed Cholesky factor R.

yarp::sig::Vector	iCub::learningmachine::math::cholsolve (const yarp::sig::Matrix &R, const yarp::sig::Vector &b)
	Solves a system A*x=b for using a precomputed Cholesky factor R.

yarp::sig::Matrix	iCub::learningmachine::math::outerprod (const yarp::sig::Vector &v1, const yarp::sig::Vector &v2)
	Computes the outer product of two vectors.

yarp::sig::Vector &	iCub::learningmachine::math::addvec (yarp::sig::Vector &v, double val)
	Adds a scalar to a vector inplace.

void	iCub::learningmachine::math::trsolve (const yarp::sig::Matrix &A, const yarp::sig::Vector &b, yarp::sig::Vector &x, bool transa=false)
	Solves a triangular linear system Ax=b where A is triangular.

yarp::sig::Vector	iCub::learningmachine::math::trsolve (const yarp::sig::Matrix &A, const yarp::sig::Vector &b, bool transa=false)
	Solves a linear system Ax=b where A is triangular.

void	iCub::learningmachine::math::fillrandom (yarp::sig::Vector &v, yarp::math::RandScalar &prng)
	Fills an entire vector using the provided pseudo random number generator.

void	iCub::learningmachine::math::fillrandom (yarp::sig::Matrix &M, yarp::math::RandScalar &prng)
	Fills an entire matrix using the provided pseudo random number generator.

void	iCub::learningmachine::math::fillrandom (yarp::sig::Vector &v, yarp::math::RandnScalar &prng)
	Fills an entire vector using the provided pseudo random number generator.

void	iCub::learningmachine::math::fillrandom (yarp::sig::Matrix &M, yarp::math::RandnScalar &prng)
	Fills an entire matrix using the provided pseudo random number generator.

yarp::sig::Vector	iCub::learningmachine::math::random (int length, yarp::math::RandScalar &prng)
	Returns a random vector with given dimensionality.

yarp::sig::Matrix	iCub::learningmachine::math::random (int rows, int columns, yarp::math::RandScalar &prng)
	Returns a random matrix with given dimensionality.

yarp::sig::Vector	iCub::learningmachine::math::random (int length, yarp::math::RandnScalar &prng)
	Returns a random vector with given dimensionality.

yarp::sig::Matrix	iCub::learningmachine::math::random (int rows, int columns, yarp::math::RandnScalar &prng)
	Returns a random matrix with given dimensionality.

yarp::sig::Vector &	iCub::learningmachine::math::map (yarp::sig::Vector &v, double(op)(double))
	Performs a unary operator inplace on each element of a vector.

yarp::sig::Matrix &	iCub::learningmachine::math::map (yarp::sig::Matrix &M, double(op)(double))
	Performs a unary operator inplace on each element of a matrix.

yarp::sig::Vector	iCub::learningmachine::math::map (const yarp::sig::Vector &v, double(op)(double))
	Performs a unary operator on each element of a vector.

yarp::sig::Matrix	iCub::learningmachine::math::map (const yarp::sig::Matrix &M, double(op)(double))
	Performs a unary operator on each element of a matrix.

yarp::sig::Matrix &	iCub::learningmachine::math::cosmat (yarp::sig::Matrix &M)
	Computes the cosine of a matrix element-wise inplace.

yarp::sig::Matrix &	iCub::learningmachine::math::sinmat (yarp::sig::Matrix &M)
	Computes the sine of a matrix element-wise inplace.

yarp::sig::Vector &	iCub::learningmachine::math::cosvec (yarp::sig::Vector &v)
	Computes the cosine of a vector element-wise inplace.

yarp::sig::Vector &	iCub::learningmachine::math::sinvec (yarp::sig::Vector &v)
	Computes the sine of a vector element-wise inplace.

yarp::sig::Matrix	iCub::learningmachine::math::cosmat (const yarp::sig::Matrix &M)
	Computes the cosine of a matrix element-wise.

yarp::sig::Matrix	iCub::learningmachine::math::sinmat (const yarp::sig::Matrix &M)
	Computes the sine of a matrix element-wise.

yarp::sig::Vector	iCub::learningmachine::math::cosvec (const yarp::sig::Vector &v)
	Computes the cosine of a vector element-wise.

yarp::sig::Vector	iCub::learningmachine::math::sinvec (const yarp::sig::Vector &v)
	Computes the sine of a vector element-wise.

Namespaces

Functions