Compile-time wrapper for Eigen::Matrix. More...

#include <frc/ct_matrix.h>

Public Member Functions
constexpr	ct_matrix ()=default

constexpr	ct_matrix (std::initializer_list< std::initializer_list< Scalar > > list)
	Constructs a scalar VariableMatrix from a nested list of Variables.

template<typename Derived > requires std::derived_from<Derived, Eigen::MatrixBase<Derived>>
constexpr	ct_matrix (const Derived &mat)

constexpr int	rows () const
	Returns number of rows.

constexpr int	cols () const
	Returns number of columns.

constexpr const Scalar &	operator() (int row, int col) const
	Returns reference to matrix element.

constexpr Scalar &	operator() (int row, int col)
	Returns reference to matrix element.

constexpr const Scalar &	operator() (int index) const
	Returns reference to matrix element.

constexpr Scalar &	operator() (int index)
	Returns reference to matrix element.

constexpr ct_matrix< Scalar, Cols, Rows >	transpose () const
	Constexpr version of Eigen's transpose member function.

template<int RhsRows, int RhsCols> requires (Rows == 1 \|\| Cols == 1) && (RhsRows == 1 \|\| RhsCols == 1) && (Rows * Cols == RhsRows * RhsCols)
constexpr Scalar	dot (const ct_matrix< Scalar, RhsRows, RhsCols > &rhs) const
	Constexpr version of Eigen's vector dot member function.

constexpr Scalar	norm () const
	Constexpr version of Eigen's norm member function.

constexpr ct_matrix< Scalar, 3, 1 >	cross (const ct_matrix< Scalar, 3, 1 > &rhs)
	Constexpr version of Eigen's 3D vector cross member function.

constexpr Scalar	determinant () const
	Constexpr version of Eigen's 2x2 matrix determinant member function.

constexpr Scalar	determinant () const
	Constexpr version of Eigen's 3x3 matrix determinant member function.

constexpr const Eigen::Matrix< Scalar, Rows, Cols > &	storage () const
	Returns the internal Eigen matrix.

constexpr	operator Eigen::Matrix< Scalar, Rows, Cols > () const
	Implicit cast to an Eigen matrix.

Static Public Member Functions
static constexpr ct_matrix< Scalar, Rows, Cols >	Identity ()
	Constexpr version of Eigen's identity function.

Friends
constexpr ct_matrix< Scalar, Rows, Cols >	operator* (Scalar lhs, const ct_matrix< Scalar, Rows, Cols > &rhs)
	Constexpr version of Eigen's scalar multiplication operator.

template<int Cols2>
constexpr ct_matrix< Scalar, Rows, Cols2 >	operator* (const ct_matrix< Scalar, Rows, Cols > &lhs, const ct_matrix< Scalar, Rows, Cols2 > &rhs)
	Constexpr version of Eigen's matrix multiplication operator.

constexpr ct_matrix< Scalar, Rows, Cols >	operator+ (const ct_matrix< Scalar, Rows, Cols > &lhs, const ct_matrix< Scalar, Rows, Cols > &rhs)
	Constexpr version of Eigen's matrix addition operator.

constexpr ct_matrix< Scalar, Rows, Cols >	operator- (const ct_matrix< Scalar, Rows, Cols > &lhs, const ct_matrix< Scalar, Rows, Cols > &rhs)
	Constexpr version of Eigen's matrix subtraction operator.

Detailed Description

template<typename Scalar, int Rows, int Cols>
class frc::ct_matrix< Scalar, Rows, Cols >

Compile-time wrapper for Eigen::Matrix.

Template Parameters

Rows	Rows of matrix.
Cols	Columns of matrix.

Constructor & Destructor Documentation

◆ ct_matrix() [1/3]

template<typename Scalar , int Rows, int Cols>

frc::ct_matrix< Scalar, Rows, Cols >::ct_matrix ( )

constexprdefault

◆ ct_matrix() [2/3]

template<typename Scalar , int Rows, int Cols>

frc::ct_matrix< Scalar, Rows, Cols >::ct_matrix ( std::initializer_list< std::initializer_list< Scalar > > list )

inlineconstexpr

Constructs a scalar VariableMatrix from a nested list of Variables.

Parameters

list	The nested list of Variables.

◆ ct_matrix() [3/3]

template<typename Scalar , int Rows, int Cols>

template<typename Derived >
requires std::derived_from<Derived, Eigen::MatrixBase<Derived>>

frc::ct_matrix< Scalar, Rows, Cols >::ct_matrix ( const Derived & mat )

inlineconstexpr

Member Function Documentation

◆ cols()

template<typename Scalar , int Rows, int Cols>

int frc::ct_matrix< Scalar, Rows, Cols >::cols ( ) const

inlineconstexpr

Returns number of columns.

Returns: Number of columns.

◆ cross()

template<typename Scalar , int Rows, int Cols>

ct_matrix< Scalar, 3, 1 > frc::ct_matrix< Scalar, Rows, Cols >::cross ( const ct_matrix< Scalar, 3, 1 > & rhs )

inlineconstexpr

Constexpr version of Eigen's 3D vector cross member function.

Parameters

rhs	RHS vector.

Returns: Cross product of two vectors.

◆ determinant() [1/2]

template<typename Scalar , int Rows, int Cols>

Scalar frc::ct_matrix< Scalar, Rows, Cols >::determinant ( ) const

inlineconstexpr

Constexpr version of Eigen's 2x2 matrix determinant member function.

Returns: Determinant of matrix.

◆ determinant() [2/2]

template<typename Scalar , int Rows, int Cols>

Scalar frc::ct_matrix< Scalar, Rows, Cols >::determinant ( ) const

inlineconstexpr

Constexpr version of Eigen's 3x3 matrix determinant member function.

Returns: Determinant of matrix.

◆ dot()

template<typename Scalar , int Rows, int Cols>

template<int RhsRows, int RhsCols>
requires (Rows == 1 || Cols == 1) && (RhsRows == 1 || RhsCols == 1) && (Rows * Cols == RhsRows * RhsCols)

Scalar frc::ct_matrix< Scalar, Rows, Cols >::dot ( const ct_matrix< Scalar, RhsRows, RhsCols > & rhs ) const

inlineconstexpr

Constexpr version of Eigen's vector dot member function.

Template Parameters

RhsRows	Rows of RHS vector.
RhsCols	Columns of RHS vector.

Parameters

rhs	RHS vector.

Returns: Dot product of two vectors.

◆ Identity()

template<typename Scalar , int Rows, int Cols>

static constexpr ct_matrix< Scalar, Rows, Cols > frc::ct_matrix< Scalar, Rows, Cols >::Identity ( )

inlinestaticconstexpr

Constexpr version of Eigen's identity function.

Returns: Identity matrix of the specified size.

◆ norm()

template<typename Scalar , int Rows, int Cols>

Scalar frc::ct_matrix< Scalar, Rows, Cols >::norm ( ) const

inlineconstexpr

Constexpr version of Eigen's norm member function.

Returns: Norm of matrix.

◆ operator Eigen::Matrix< Scalar, Rows, Cols >()

template<typename Scalar , int Rows, int Cols>

frc::ct_matrix< Scalar, Rows, Cols >::operator Eigen::Matrix< Scalar, Rows, Cols > ( ) const

inlineconstexpr

Implicit cast to an Eigen matrix.

◆ operator()() [1/4]

template<typename Scalar , int Rows, int Cols>

Scalar & frc::ct_matrix< Scalar, Rows, Cols >::operator() ( int index )

inlineconstexpr

Returns reference to matrix element.

Parameters

index Index.

◆ operator()() [2/4]

template<typename Scalar , int Rows, int Cols>

const Scalar & frc::ct_matrix< Scalar, Rows, Cols >::operator() ( int index ) const

inlineconstexpr

Returns reference to matrix element.

Parameters

index Index.

◆ operator()() [3/4]

template<typename Scalar , int Rows, int Cols>

Scalar & frc::ct_matrix< Scalar, Rows, Cols >::operator()	(	int	row,
		int	col )

inlineconstexpr

Returns reference to matrix element.

Parameters

row	Row index.
col	Column index.

◆ operator()() [4/4]

template<typename Scalar , int Rows, int Cols>

const Scalar & frc::ct_matrix< Scalar, Rows, Cols >::operator()	(	int	row,
		int	col ) const

inlineconstexpr

Returns reference to matrix element.

Parameters

row	Row index.
col	Column index.

◆ rows()

template<typename Scalar , int Rows, int Cols>

int frc::ct_matrix< Scalar, Rows, Cols >::rows ( ) const

inlineconstexpr

Returns number of rows.

Returns: Number of rows.

◆ storage()

template<typename Scalar , int Rows, int Cols>

const Eigen::Matrix< Scalar, Rows, Cols > & frc::ct_matrix< Scalar, Rows, Cols >::storage ( ) const

inlineconstexpr

Returns the internal Eigen matrix.

Returns: The internal Eigen matrix.

◆ transpose()

template<typename Scalar , int Rows, int Cols>

ct_matrix< Scalar, Cols, Rows > frc::ct_matrix< Scalar, Rows, Cols >::transpose ( ) const

inlineconstexpr

Constexpr version of Eigen's transpose member function.

Returns: Transpose of matrix.

Friends And Related Symbol Documentation

◆ operator* [1/2]

template<typename Scalar , int Rows, int Cols>

template<int Cols2>

ct_matrix< Scalar, Rows, Cols2 > operator*	(	const ct_matrix< Scalar, Rows, Cols > &	lhs,
		const ct_matrix< Scalar, Rows, Cols2 > &	rhs )

friend

Constexpr version of Eigen's matrix multiplication operator.

Template Parameters

Cols2 Columns of RHS matrix.

Parameters

lhs	LHS matrix.
rhs	RHS matrix.

Returns: Result of multiplication.

◆ operator* [2/2]

template<typename Scalar , int Rows, int Cols>

ct_matrix< Scalar, Rows, Cols > operator*	(	Scalar	lhs,
		const ct_matrix< Scalar, Rows, Cols > &	rhs )

friend

Constexpr version of Eigen's scalar multiplication operator.

Parameters

lhs	LHS scalar.
rhs	RHS matrix.

Returns: Result of multiplication.

◆ operator+

template<typename Scalar , int Rows, int Cols>

ct_matrix< Scalar, Rows, Cols > operator+	(	const ct_matrix< Scalar, Rows, Cols > &	lhs,
		const ct_matrix< Scalar, Rows, Cols > &	rhs )

friend

Constexpr version of Eigen's matrix addition operator.

Parameters

lhs	LHS matrix.
rhs	RHS matrix.

Returns: Result of addition.

◆ operator-

template<typename Scalar , int Rows, int Cols>

ct_matrix< Scalar, Rows, Cols > operator-	(	const ct_matrix< Scalar, Rows, Cols > &	lhs,
		const ct_matrix< Scalar, Rows, Cols > &	rhs )

friend

Constexpr version of Eigen's matrix subtraction operator.

Parameters

lhs	LHS matrix.
rhs	RHS matrix.

Returns: Result of subtraction.

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

frc/ct_matrix.h

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ct_matrix() [1/3]

◆ ct_matrix() [2/3]

◆ ct_matrix() [3/3]

Member Function Documentation

◆ cols()

◆ cross()

◆ determinant() [1/2]

◆ determinant() [2/2]

◆ dot()

◆ Identity()

◆ norm()

◆ operator Eigen::Matrix< Scalar, Rows, Cols >()

◆ operator()() [1/4]

◆ operator()() [2/4]

◆ operator()() [3/4]

◆ operator()() [4/4]

◆ rows()

◆ storage()

◆ transpose()

Friends And Related Symbol Documentation

◆ operator* [1/2]

◆ operator* [2/2]

◆ operator+

◆ operator-