C++ QMat::nCols方法代码示例

/**
 * \brief Matrix to matrix product operator; \f$ C = this * A \f$
 *
 * IPP coge (columnas, filas) en las llamadas
 * @param A matrix factor for operation
 * @return QMat New matrix result
 */
QMat QMat::operator * ( const QMat & A ) const
{
// 	printf("Operator *: (%d,%d) x (%d,%d)\n", rows, cols, A.rows, A.cols);
	QMat C=zeros( rows, A.nCols() );
	if ( cols != A.nRows())
	{
		QString ex= "QMat::operator* - a.cols!=b.rows";
		throw ex;
	}
	else
	{
#ifdef COMPILE_IPP
	ippmMul_mm_32f ( toDataConst(), cols*sizeof ( T ), sizeof ( T ), cols, rows, A.toDataConst(), A.nCols() *sizeof ( T ), sizeof ( T ), A.nCols(), A.nRows(), C.toData(), C.nCols() *sizeof ( T ), sizeof ( T ) );
#else
	for(int i=0;i<rows;i++)
	{
		for(int j=0;j<A.cols;j++)
		{
			C(i,j)=0;
			for(int k=0;k<cols;k++)
			{
				C(i,j) += operator()(i,k)*A(k,j);
			}
// 			printf("%f ", C(i,j));
		}
// 		printf("\n");
	}
#endif
	}
	return C;
}

/**
 * @brief A point of the road is visible if it is between the robot and the laser beam running through it, and if the previous point was visible
 * All points in the road are updated
 * @param road ...
 * @param laserData ...
 * @return bool
 */
bool ElasticBand::checkVisiblePoints(InnerModel *innermodel, WayPoints &road, const RoboCompLaser::TLaserData &laserData)
{
	//Simplify laser polyline using Ramer-Douglas-Peucker algorithm
	std::vector<Point> points, res;
	QVec wd;
	for (auto &ld : laserData)
	{
		//wd = innermodel->laserTo("world", "laser", ld.dist, ld.angle); //OPTIMIZE THIS FOR ALL CLASS METHODS
		wd = innermodel->getNode<InnerModelLaser>("laser")->laserTo("world", ld.dist, ld.angle);
		points.push_back(Point(wd.x(), wd.z()));
	}
	res = simPath.simplifyWithRDP(points, 70); 
	//qDebug() << __FUNCTION__ << "laser polygon after simp" << res.size();

	// Create a QPolygon so we can check if robot outline falls inside
	QPolygonF polygon;
	for (auto &p: res)
		polygon << QPointF(p.x, p.y);

	// Move the robot along the road
	int robot = road.getIndexOfNextPoint();
	QVec memo = innermodel->transform6D("world", "robot");
	for(int it = robot; it<road.size(); ++it)
	{
		road[it].isVisible = true;
		innermodel->updateTransformValues("robot", road[it].pos.x(), road[it].pos.y(), road[it].pos.z(), 0, road[it].rot.y(), 0);
		//get Robot transformation matrix
		QMat m = innermodel->getTransformationMatrix("world", "robot");
		// Transform all points at one to world RS
		//m.print("m");
		//pointsMat.print("pointsMat");
		QMat newPoints = m * pointsMat;

		//Check if they are inside the laser polygon
		for (int i = 0; i < newPoints.nCols(); i++)
		{
// 			qDebug() << __FUNCTION__ << "----------------------------------";
// 			qDebug() << __FUNCTION__ << QPointF(newPoints(0, i), newPoints(2, i));
// 			qDebug() << __FUNCTION__ << polygon;
			if (polygon.containsPoint(QPointF(newPoints(0, i), newPoints(2, i)),Qt::OddEvenFill) == false)
			{
				road[it].isVisible = false;
				//qFatal("fary");
				break;
			}
		}
//		if( road[it].isVisible == false)
//		{
//			for (int k = it; k < road.size(); ++k)
//				road[k].isVisible = false;
//			break;
//		}
	}

	// Set the robot back to its original state
	innermodel->updateTransformValues("robot", memo.x(), memo.y(), memo.z(), 0, memo.ry(), 0);

	//road.print();
	return true;
}

/**
 * \brief Construct a diagonal matrix 
 *
 * Use diagonal values to create a new diagonal matrix
 * @param d Matrix to get diagonal values
 * @return QMat new diagonal matrix
 */
QMat QMat::diagonal ( const QMat & d )
{
	QMat R ( d.nRows(),d.nRows() );
	for (int i=0; i<d.nRows(); i++)
	{
		for (int j=0; j<d.nCols(); j++)
		{
			R(i,j) = 0;
		}
	}
	for ( int i=0; i < d.nRows(); i++ )
		R ( i,i ) = d ( i );
	return R;
}

int QMat::maxDim ( const QMat &A )
{
	return qMax ( A.nRows(), A.nCols() );
}

int QMat::minDim ( const QMat &A )
{
	return qMin ( A.nRows(), A.nCols() );
}

bool QMat::isSquare ( const QMat &A ) const
{
	return ( A.nRows() == A.nCols() );
}

bool RMat::QMat::is3ColumnVector(const QMat & A) const
{
	return (A.nRows() == 3 and A.nCols() == 1);
}