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math.cpp File Reference
`#include <yarp/os/LogComponent.h>`
`#include <yarp/math/Math.h>`
`#include <yarp/math/SVD.h>`
`#include <yarp/math/Quaternion.h>`
`#include <yarp/eigen/Eigen.h>`
`#include <Eigen/Eigenvalues>`
`#include <cmath>`
`#include <cassert>`
Include dependency graph for math.cpp:

Go to the source code of this file.

## Functions

Vector operator+ (const Vector &a, const double &s)
Mathematical operations.

Vector operator+ (const double &s, const Vector &a)
Addition operator between a scalar and a vector (defined in Math.h).

Vectoroperator+= (Vector &a, const double &s)
Addition operator between a scalar and a vector (defined in Math.h).

Vector operator+ (const Vector &a, const Vector &b)
Addition operator between vectors, returns a+b (defined in Math.h).

Vectoroperator+= (Vector &a, const Vector &b)
Addition operator between vectors, returns a+b (defined in Math.h).

Matrix operator+ (const Matrix &a, const Matrix &b)
Addition operator between matrices, returns a+b (defined in Math.h).

Matrixoperator+= (Matrix &a, const Matrix &b)
Addition operator between matrices, returns a+b (defined in Math.h).

Vector operator- (const Vector &a, const double &s)
Subtraction operator between a vector and a scalar (defined in Math.h).

Vector operator- (const double &s, const Vector &a)
Subtraction operator between a scalar and a vector (defined in Math.h).

Vectoroperator-= (Vector &a, const double &s)
Subtraction operator between a vector and a scalar (defined in Math.h).

Vector operator- (const Vector &a, const Vector &b)
Subtraction operator between vectors, returns a-b (defined in Math.h).

Vectoroperator-= (Vector &a, const Vector &b)
Subtraction operator between vectors, returns a-b (defined in Math.h).

Matrix operator- (const Matrix &a, const Matrix &b)
Subtraction operator between matrices, returns a-b (defined in Math.h).

Matrixoperator-= (Matrix &a, const Matrix &b)
Subtraction operator between matrices, returns a-b (defined in Math.h).

Vector operator* (double k, const Vector &b)
Scalar-vector product operator (defined in Math.h).

Vector operator* (const Vector &a, double k)
Vector-scalar product operator (defined in Math.h).

Vectoroperator*= (Vector &a, double k)
Vector-scalar product operator (defined in Math.h).

Vector operator* (const Vector &a, const Matrix &m)
Vector-matrix product operator (defined in Math.h).

Vectoroperator*= (Vector &a, const Matrix &m)
Vector-matrix product operator (defined in Math.h).

Vector operator* (const Matrix &m, const Vector &a)
Matrix-vector product operator (defined in Math.h).

Matrix operator* (const Matrix &a, const Matrix &b)
Matrix-matrix product operator (defined in Math.h).

Matrixoperator*= (Matrix &a, const Matrix &b)
Matrix-matrix product operator (defined in Math.h).

Matrix operator* (const double k, const Matrix &M)
Scalar-matrix product operator (defined in Math.h).

Matrix operator* (const Matrix &M, const double k)
Matrix-scalar product operator (defined in Math.h).

Matrixoperator*= (Matrix &M, const double k)
Matrix-scalar product operator (defined in Math.h).

Vector operator* (const Vector &a, const Vector &b)
Vector-vector element-wise product operator (defined in Math.h).

Vectoroperator*= (Vector &a, const Vector &b)
Vector-vector element-wise product operator (defined in Math.h).

Quaternion operator* (const Quaternion &a, const Quaternion &b)
Quaternion-quaternion hamilton product operator (defined in Math.h).

Vector operator/ (const Vector &a, const Vector &b)
Vector-vector element-wise division operator (defined in Math.h).

Vectoroperator/= (Vector &a, const Vector &b)
Vector-vector element-wise division operator (defined in Math.h).

Vector operator/ (const Vector &b, double k)
Vector-scalar division operator (defined in Math.h).

Vectoroperator/= (Vector &b, double k)
Vector-scalar division operator (defined in Math.h).

Matrix operator/ (const Matrix &M, const double k)
Matrix-scalar division operator (defined in Math.h).

Matrixoperator/= (Matrix &M, const double k)
Matrix-scalar division operator (defined in Math.h).

## ◆ operator*() [1/9]

 Matrix operator* ( const double k, const yarp::sig::Matrix & M )

Scalar-matrix product operator (defined in Math.h).

Parameters
 k a scalar M a matrix
Returns
k*M

Definition at line 215 of file math.cpp.

## ◆ operator*() [2/9]

 Matrix operator* ( const yarp::sig::Matrix & a, const yarp::sig::Matrix & b )

Matrix-matrix product operator (defined in Math.h).

Parameters
 a a matrix b a matrix
Returns
a*b

Definition at line 194 of file math.cpp.

## ◆ operator*() [3/9]

 Matrix operator* ( const yarp::sig::Matrix & M, const double k )

Matrix-scalar product operator (defined in Math.h).

Parameters
 M a matrix k a scalar
Returns
M*k

Definition at line 221 of file math.cpp.

## ◆ operator*() [4/9]

 Vector operator* ( const yarp::sig::Matrix & m, const yarp::sig::Vector & a )

Matrix-vector product operator (defined in Math.h).

Parameters
 a is a vector (interpreted as a column) m is a matrix
Returns
m*a

Definition at line 184 of file math.cpp.

## ◆ operator*() [5/9]

 Quaternion operator* ( const yarp::math::Quaternion & a, const yarp::math::Quaternion & b )

Quaternion-quaternion hamilton product operator (defined in Math.h).

reference: "Stevens, Brian L., Frank L. Lewis, Aircraft Control and Simulation, Wileyâ€“Interscience, 2nd Edition".

Parameters
 a a quaternion b a quaternion
Returns
a*b

Definition at line 252 of file math.cpp.

## ◆ operator*() [6/9]

 Vector operator* ( const yarp::sig::Vector & a, const yarp::sig::Matrix & m )

Vector-matrix product operator (defined in Math.h).

Parameters
 a is a vector (interpreted as a row) m is a matrix
Returns
a*m

Definition at line 163 of file math.cpp.

## ◆ operator*() [7/9]

 Vector operator* ( const yarp::sig::Vector & a, const yarp::sig::Vector & b )

Vector-vector element-wise product operator (defined in Math.h).

Parameters
 a a vector b a vector
Returns
a.*b (matlab notation)

Definition at line 236 of file math.cpp.

## ◆ operator*() [8/9]

 Vector operator* ( const yarp::sig::Vector & b, double k )

Vector-scalar product operator (defined in Math.h).

Parameters
 b a vector k a scalar
Returns
b*k

Definition at line 148 of file math.cpp.

## ◆ operator*() [9/9]

 Vector operator* ( double k, const yarp::sig::Vector & b )

Scalar-vector product operator (defined in Math.h).

Parameters
 k a scalar b vector
Returns
k*b

Definition at line 143 of file math.cpp.

## ◆ operator*=() [1/5]

 Matrix & operator*= ( yarp::sig::Matrix & a, const yarp::sig::Matrix & b )

Matrix-matrix product operator (defined in Math.h).

Parameters
 a a matrix b a matrix
Returns
a*b

Definition at line 204 of file math.cpp.

## ◆ operator*=() [2/5]

 Matrix & operator*= ( yarp::sig::Matrix & M, const double k )

Matrix-scalar product operator (defined in Math.h).

Parameters
 M a matrix k a scalar
Returns
M*k

Definition at line 226 of file math.cpp.

## ◆ operator*=() [3/5]

 Vector & operator*= ( yarp::sig::Vector & a, const yarp::sig::Matrix & m )

Vector-matrix product operator (defined in Math.h).

Parameters
 a is a vector (interpreted as a row) m is a matrix
Returns
a*m

Definition at line 173 of file math.cpp.

## ◆ operator*=() [4/5]

 Vector & operator*= ( yarp::sig::Vector & a, const yarp::sig::Vector & b )

Vector-vector element-wise product operator (defined in Math.h).

Parameters
 a a vector b a vector
Returns
a.*b (matlab notation)

Definition at line 242 of file math.cpp.

## ◆ operator*=() [5/5]

 Vector & operator*= ( yarp::sig::Vector & b, double k )

Vector-scalar product operator (defined in Math.h).

Parameters
 b a vector k a scalar
Returns
b*k

Definition at line 154 of file math.cpp.

## ◆ operator+() [1/4]

 Vector operator+ ( const double & s, const yarp::sig::Vector & a )

Addition operator between a scalar and a vector (defined in Math.h).

Sum the scalar to all the elements of the vector.

Definition at line 33 of file math.cpp.

## ◆ operator+() [2/4]

 Matrix operator+ ( const Matrix & a, const Matrix & b )

Addition operator between matrices, returns a+b (defined in Math.h).

Definition at line 63 of file math.cpp.

## ◆ operator+() [3/4]

 Vector operator+ ( const yarp::sig::Vector & a, const double & s )

Mathematical operations.

Addition operator between a scalar and a vector (defined in Math.h). Sum the scalar to all the elements of the vector.

Definition at line 27 of file math.cpp.

## ◆ operator+() [4/4]

 Vector operator+ ( const Vector & a, const Vector & b )

Addition operator between vectors, returns a+b (defined in Math.h).

Definition at line 47 of file math.cpp.

## ◆ operator+=() [1/3]

 Matrix & operator+= ( Matrix & a, const Matrix & b )

Addition operator between matrices, returns a+b (defined in Math.h).

Definition at line 69 of file math.cpp.

## ◆ operator+=() [2/3]

 Vector & operator+= ( yarp::sig::Vector & a, const double & s )

Addition operator between a scalar and a vector (defined in Math.h).

Sum the scalar to all the elements of the vector.

Definition at line 38 of file math.cpp.

## ◆ operator+=() [3/3]

 Vector & operator+= ( Vector & a, const Vector & b )

Addition operator between vectors, returns a+b (defined in Math.h).

Definition at line 53 of file math.cpp.

## ◆ operator-() [1/4]

 Vector operator- ( const double & s, const yarp::sig::Vector & a )

Subtraction operator between a scalar and a vector (defined in Math.h).

Multiply the vector by -1 and sum the scalar to the result.

Definition at line 88 of file math.cpp.

## ◆ operator-() [2/4]

 Matrix operator- ( const Matrix & a, const Matrix & b )

Subtraction operator between matrices, returns a-b (defined in Math.h).

Definition at line 123 of file math.cpp.

## ◆ operator-() [3/4]

 Vector operator- ( const yarp::sig::Vector & a, const double & s )

Subtraction operator between a vector and a scalar (defined in Math.h).

Subtract the scalar to all the elements of the vector.

Definition at line 82 of file math.cpp.

## ◆ operator-() [4/4]

 Vector operator- ( const Vector & a, const Vector & b )

Subtraction operator between vectors, returns a-b (defined in Math.h).

Definition at line 107 of file math.cpp.

## ◆ operator-=() [1/3]

 Matrix & operator-= ( Matrix & a, const Matrix & b )

Subtraction operator between matrices, returns a-b (defined in Math.h).

Definition at line 129 of file math.cpp.

## ◆ operator-=() [2/3]

 Vector & operator-= ( yarp::sig::Vector & a, const double & s )

Subtraction operator between a vector and a scalar (defined in Math.h).

Subtract the scalar to all the elements of the vector.

Definition at line 98 of file math.cpp.

## ◆ operator-=() [3/3]

 Vector & operator-= ( Vector & a, const Vector & b )

Subtraction operator between vectors, returns a-b (defined in Math.h).

Definition at line 113 of file math.cpp.

## ◆ operator/() [1/3]

 Matrix operator/ ( const yarp::sig::Matrix & M, double k )

Matrix-scalar division operator (defined in Math.h).

Parameters
 M a matrix k a scalar
Returns
M./k (matlab notation)

Definition at line 292 of file math.cpp.

## ◆ operator/() [2/3]

 Vector operator/ ( const yarp::sig::Vector & a, const yarp::sig::Vector & b )

Vector-vector element-wise division operator (defined in Math.h).

Parameters
 a a vector b a vector
Returns
a./b (matlab notation)

Definition at line 260 of file math.cpp.

## ◆ operator/() [3/3]

 Vector operator/ ( const yarp::sig::Vector & b, double k )

Vector-scalar division operator (defined in Math.h).

Parameters
 b a vector k a scalar
Returns
b/k

Definition at line 276 of file math.cpp.

## ◆ operator/=() [1/3]

 Matrix & operator/= ( yarp::sig::Matrix & M, double k )

Matrix-scalar division operator (defined in Math.h).

Parameters
 M a matrix k a scalar
Returns
M./k (matlab notation)

Definition at line 298 of file math.cpp.

## ◆ operator/=() [2/3]

 Vector & operator/= ( yarp::sig::Vector & a, const yarp::sig::Vector & b )

Vector-vector element-wise division operator (defined in Math.h).

Parameters
 a a vector b a vector
Returns
a./b (matlab notation)

Definition at line 266 of file math.cpp.

## ◆ operator/=() [3/3]

 Vector & operator/= ( yarp::sig::Vector & b, double k )

Vector-scalar division operator (defined in Math.h).

Parameters
 b a vector k a scalar
Returns
b/k

Definition at line 282 of file math.cpp.