copp::Matrix Class Reference

Lightweight owned column-major matrix. More...

#include <core.hpp>

Public Member Functions
	Matrix ()=default
	Matrix (std::size_t rows, std::size_t cols)
	Matrix (std::size_t rows, std::size_t cols, std::vector< double > data)
std::size_t	rows () const noexcept
std::size_t	cols () const noexcept
std::size_t	size () const noexcept
bool	empty () const noexcept
double *	data () noexcept
const double *	data () const noexcept
std::vector< double > &	values () noexcept
const std::vector< double > &	values () const noexcept
MatrixView	view () const noexcept
double &	operator() (std::size_t row, std::size_t col) noexcept
double	operator() (std::size_t row, std::size_t col) const noexcept

Static Public Member Functions
static Matrix	from_rows (std::initializer_list< std::initializer_list< double > > rows)
	Build a matrix from row-major initializer-list notation.
static Matrix	from_columns (std::initializer_list< std::initializer_list< double > > columns)
	Build a matrix from column-major initializer-list notation.

Detailed Description

Lightweight owned column-major matrix.

This type is intentionally just storage plus shape. It does not implement linear algebra. The data layout is always column-major and matches nalgebra: matrix(row, col) is stored at row + col * rows().

Eigen integration lives in copp/eigen.hpp as adapters over this storage rather than changing the core return type. This keeps the core API usable without Eigen while still making Eigen views cheap for common users.

auto waypoints = copp::Matrix::from_columns({
    {0.0, 0.0},
    {0.5, 0.25},
    {1.0, 1.0},
});
std::cout << waypoints(1, 2) << "\n"; // 1.0

Definition at line 351 of file core.hpp.

Constructor & Destructor Documentation

Matrix() [1/3]

copp::Matrix::Matrix ( )

default

Matrix() [2/3]

copp::Matrix::Matrix ( std::size_t rows, std::size_t cols )

inline

Definition at line 356 of file core.hpp.

Matrix() [3/3]

copp::Matrix::Matrix ( std::size_t rows, std::size_t cols, std::vector< double > data )

inline

Definition at line 359 of file core.hpp.

Member Function Documentation

from_rows()

Matrix copp::Matrix::from_rows ( std::initializer_list< std::initializer_list< double > > rows )

inlinestatic

Build a matrix from row-major initializer-list notation.

Parameters

rows	Outer list of matrix rows. Every row must have the same number of columns.

Returns

An owned column-major Matrix containing the same logical values.

Exceptions

copp::Error

if input is empty or not rectangular.

auto matrix = copp::Matrix::from_rows({
    {0.0, 0.5, 1.0},
    {0.0, 0.25, 1.0},
});

Definition at line 382 of file core.hpp.

from_columns()

Matrix copp::Matrix::from_columns ( std::initializer_list< std::initializer_list< double > > columns )

inlinestatic

Build a matrix from column-major initializer-list notation.

This is convenient for waypoint paths because COPP represents waypoint matrices as (dim x n_points), where each column is one waypoint:

Parameters

columns

Outer list of waypoint columns. Every column must have the same dimension.

Returns

An owned column-major Matrix.

Exceptions

copp::Error

if input is empty or not rectangular.

auto waypoints = copp::Matrix::from_columns({
    {0.0, 0.0},
    {0.5, 0.25},
    {1.0, 1.0},
});

Definition at line 433 of file core.hpp.

rows()

std::size_t copp::Matrix::rows ( ) const

inlinenoexcept

Definition at line 466 of file core.hpp.

cols()

std::size_t copp::Matrix::cols ( ) const

inlinenoexcept

Definition at line 467 of file core.hpp.

size()

std::size_t copp::Matrix::size ( ) const

inlinenoexcept

Definition at line 468 of file core.hpp.

empty()

bool copp::Matrix::empty ( ) const

inlinenoexcept

Definition at line 469 of file core.hpp.

data() [1/2]

double * copp::Matrix::data ( )

inlinenoexcept

Definition at line 471 of file core.hpp.

data() [2/2]

const double * copp::Matrix::data ( ) const

inlinenoexcept

Definition at line 472 of file core.hpp.

values() [1/2]

std::vector< double > & copp::Matrix::values ( )

inlinenoexcept

Definition at line 474 of file core.hpp.

values() [2/2]

const std::vector< double > & copp::Matrix::values ( ) const

inlinenoexcept

Definition at line 475 of file core.hpp.

view()

MatrixView copp::Matrix::view ( ) const

inlinenoexcept

Definition at line 477 of file core.hpp.

operator()() [1/2]

double & copp::Matrix::operator() ( std::size_t row, std::size_t col )

inlinenoexcept

Definition at line 482 of file core.hpp.

operator()() [2/2]

double copp::Matrix::operator() ( std::size_t row, std::size_t col ) const

inlinenoexcept

Definition at line 487 of file core.hpp.

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The documentation for this class was generated from the following file:

• bindings/cpp/include/copp/core.hpp