Functions
void	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. More...

void	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	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. More...

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

void	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. More...

yarp::sig::Matrix	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. More...

void	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. More...

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

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

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

void	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. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Function Documentation

◆ addvec()

yarp::sig::Vector & iCub::learningmachine::math::addvec	(	yarp::sig::Vector &	v,
		double	val
	)

Adds a scalar to a vector inplace.

Parameters

v	the vector
val	the scalar

Returns: the vector

Definition at line 223 of file Math.cpp.

◆ cholsolve() [1/4]

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.

Parameters

R	the Cholesky factor
B	a matrix containing any number of column vectors b

Returns: a matrix containing the same number of solutions x on its rows

Definition at line 185 of file Math.cpp.

◆ cholsolve() [2/4]

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.

Parameters

R	the Cholesky factor
B	a matrix containing any number of row vectors b
X	a matrix containing the same number of solutions x on its rows

Definition at line 167 of file Math.cpp.

◆ cholsolve() [3/4]

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.

Parameters

R	the Cholesky factor
b	the vector b

Returns: the solution x

Definition at line 207 of file Math.cpp.

◆ cholsolve() [4/4]

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.

Parameters

R	the Cholesky factor
b	the vector b
x	the solution x

Definition at line 191 of file Math.cpp.

◆ cholupdate() [1/2]

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.

For more information, please see chapter 10.2 of the LINPACK User's Guide.

Parameters

R	an upper triangular Cholesky factor
x	the vector used to update the Cholesky factor
rtrans	flag indicating whether R is provided transposed

Definition at line 152 of file Math.cpp.

◆ cholupdate() [2/2]

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.

For more information, please see chapter 10.2 of the LINPACK User's Guide.

Parameters

R	an upper triangular Cholesky factor
x	the vector used to update the Cholesky factor
c	on output, the cosines of the Given's rotations
s	on output, the sines of the Given's rotations
Z	a number of column vectors updated along with R
y	a vector containing scalars used to update Z
rho	the norm of the residuals
rtrans	flag indicating whether R is provided transposed
ztrans	flag indicating whether Z is provided transposed

Definition at line 136 of file Math.cpp.

◆ cosmat() [1/2]

yarp::sig::Matrix iCub::learningmachine::math::cosmat ( const yarp::sig::Matrix & M )

Computes the cosine of a matrix element-wise.

Renamed to avoid possible ambiguity with the standard cos function.

Parameters

M	a constant reference to the matrix

Returns: the matrix of cosines

Definition at line 363 of file Math.cpp.

◆ cosmat() [2/2]

yarp::sig::Matrix & iCub::learningmachine::math::cosmat ( yarp::sig::Matrix & M )

Computes the cosine of a matrix element-wise inplace.

Renamed to avoid possible ambiguity with the standard cos function.

Parameters

M	a reference to the matrix

Returns: the matrix of cosines

Definition at line 347 of file Math.cpp.

◆ cosvec() [1/2]

yarp::sig::Vector iCub::learningmachine::math::cosvec ( const yarp::sig::Vector & v )

Computes the cosine of a vector element-wise.

Renamed to avoid possible ambiguity with the standard cos function.

Parameters

v	a constant reference to the vector

Returns: the vector of cosines

Definition at line 355 of file Math.cpp.

◆ cosvec() [2/2]

yarp::sig::Vector & iCub::learningmachine::math::cosvec ( yarp::sig::Vector & v )

Computes the cosine of a vector element-wise inplace.

Renamed to avoid possible ambiguity with the standard cos function.

Parameters

v	a reference to the vector

Returns: the vector of cosines

Definition at line 339 of file Math.cpp.

◆ dchud()

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.

Author: Arjan Gijsberts

Definition at line 33 of file Math.cpp.

◆ fillrandom() [1/4]

void iCub::learningmachine::math::fillrandom	(	yarp::sig::Matrix &	M,
		yarp::math::RandnScalar &	prng
	)

Fills an entire matrix using the provided pseudo random number generator.

Parameters

M	a reference to the matrix
prng	a reference to the pseudo random number generator

Definition at line 272 of file Math.cpp.

◆ fillrandom() [2/4]

void iCub::learningmachine::math::fillrandom	(	yarp::sig::Matrix &	M,
		yarp::math::RandScalar &	prng
	)

Fills an entire matrix using the provided pseudo random number generator.

Parameters

M	a reference to the matrix
prng	a reference to the pseudo random number generator

Definition at line 256 of file Math.cpp.

◆ fillrandom() [3/4]

void iCub::learningmachine::math::fillrandom	(	yarp::sig::Vector &	v,
		yarp::math::RandnScalar &	prng
	)

Fills an entire vector using the provided pseudo random number generator.

Parameters

v	a reference to the vector
prng	a reference to the pseudo random number generator

Definition at line 265 of file Math.cpp.

◆ fillrandom() [4/4]

void iCub::learningmachine::math::fillrandom	(	yarp::sig::Vector &	v,
		yarp::math::RandScalar &	prng
	)

Fills an entire vector using the provided pseudo random number generator.

Parameters

v	a reference to the vector
prng	a reference to the pseudo random number generator

Definition at line 249 of file Math.cpp.

◆ gsl_linalg_cholesky_update()

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`
	)

Definition at line 99 of file Math.cpp.

◆ map() [1/4]

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.

Parameters

M	a constant reference to the matrix
op	the operator

Returns: the matrix

Definition at line 329 of file Math.cpp.

◆ map() [2/4]

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.

Parameters

v	a constant reference to the vector
op	the operator

Returns: the vector

Definition at line 321 of file Math.cpp.

◆ map() [3/4]

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.

Parameters

M	a reference to the matrix
op	the operator

Returns: a reference to the matrix

Definition at line 312 of file Math.cpp.

◆ map() [4/4]

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.

Parameters

v	a reference to the vector
op	the operator

Returns: a reference to the vector

Definition at line 305 of file Math.cpp.

◆ outerprod()

yarp::sig::Matrix iCub::learningmachine::math::outerprod	(	const yarp::sig::Vector &	v1,
		const yarp::sig::Vector &	v2
	)

Computes the outer product of two vectors.

Parameters

v1	the first vector
v2	the second vector

Returns: the outer product

Definition at line 213 of file Math.cpp.

◆ random() [1/4]

yarp::sig::Vector iCub::learningmachine::math::random	(	int	length,
		yarp::math::RandnScalar &	prng
	)

Returns a random vector with given dimensionality.

Parameters

length	the desired dimensionality of the vector
prng	a reference to the pseudo random number generator

Returns: the random vector

Definition at line 293 of file Math.cpp.

◆ random() [2/4]

yarp::sig::Vector iCub::learningmachine::math::random	(	int	length,
		yarp::math::RandScalar &	prng
	)

Returns a random vector with given dimensionality.

Parameters

length	the desired dimensionality of the vector
prng	a reference to the pseudo random number generator

Returns: the random vector

Definition at line 281 of file Math.cpp.

◆ random() [3/4]

yarp::sig::Matrix iCub::learningmachine::math::random	(	int	rows,
		int	columns,
		yarp::math::RandnScalar &	prng
	)

Returns a random matrix with given dimensionality.

Parameters

rows	the desired number of rows for the matrix
cols	the desired number of columns for the matrix
prng	a reference to the pseudo random number generator

Returns: the random matrix

Definition at line 299 of file Math.cpp.

◆ random() [4/4]

yarp::sig::Matrix iCub::learningmachine::math::random	(	int	rows,
		int	columns,
		yarp::math::RandScalar &	prng
	)

Returns a random matrix with given dimensionality.

Parameters

rows	the desired number of rows for the matrix
cols	the desired number of columns for the matrix
prng	a reference to the pseudo random number generator

Returns: the random matrix

Definition at line 287 of file Math.cpp.

◆ sinmat() [1/2]

yarp::sig::Matrix iCub::learningmachine::math::sinmat ( const yarp::sig::Matrix & M )

Computes the sine of a matrix element-wise.

Renamed to avoid possible ambiguity with the standard sin function.

Parameters

M	a constant reference to the matrix

Returns: the matrix of sines

Definition at line 367 of file Math.cpp.

◆ sinmat() [2/2]

yarp::sig::Matrix & iCub::learningmachine::math::sinmat ( yarp::sig::Matrix & M )

Computes the sine of a matrix element-wise inplace.

Renamed to avoid possible ambiguity with the standard sin function.

Parameters

M	a reference to the matrix

Returns: the matrix of sines

Definition at line 351 of file Math.cpp.

◆ sinvec() [1/2]

yarp::sig::Vector iCub::learningmachine::math::sinvec ( const yarp::sig::Vector & v )

Computes the sine of a vector element-wise.

Renamed to avoid possible ambiguity with the standard sin function.

Parameters

v	a constant reference to the vector

Returns: the vector of sines

Definition at line 359 of file Math.cpp.

◆ sinvec() [2/2]

yarp::sig::Vector & iCub::learningmachine::math::sinvec ( yarp::sig::Vector & v )

Computes the sine of a vector element-wise inplace.

Renamed to avoid possible ambiguity with the standard sin function.

Parameters

v	a reference to the vector

Returns: the vector of sines

Definition at line 343 of file Math.cpp.

◆ trsolve() [1/2]

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.

Parameters

A	the matrix A
b	the matrix b
transa	whether A should be transposed

Returns: x the vector x

Definition at line 243 of file Math.cpp.

◆ trsolve() [2/2]

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.

Parameters

A	the matrix A
b	the vector b
x	the vector x
transa	whether A should be transposed

Definition at line 230 of file Math.cpp.

Functions

Function Documentation

◆ addvec()

◆ cholsolve() [1/4]

◆ cholsolve() [2/4]

◆ cholsolve() [3/4]

◆ cholsolve() [4/4]

◆ cholupdate() [1/2]

◆ cholupdate() [2/2]

◆ cosmat() [1/2]

◆ cosmat() [2/2]

◆ cosvec() [1/2]

◆ cosvec() [2/2]

◆ dchud()

◆ fillrandom() [1/4]

◆ fillrandom() [2/4]

◆ fillrandom() [3/4]

◆ fillrandom() [4/4]

◆ gsl_linalg_cholesky_update()

◆ map() [1/4]

◆ map() [2/4]

◆ map() [3/4]

◆ map() [4/4]

◆ outerprod()

◆ random() [1/4]

◆ random() [2/4]

◆ random() [3/4]

◆ random() [4/4]

◆ sinmat() [1/2]

◆ sinmat() [2/2]

◆ sinvec() [1/2]

◆ sinvec() [2/2]

◆ trsolve() [1/2]

◆ trsolve() [2/2]