Public Member Functions
	Matrix (Nat< R > rows, Nat< C > columns)

	Matrix (Nat< R > rows, Nat< C > columns, double[] storage)

	Matrix (SimpleMatrix storage)

	Matrix (Matrix< R, C > other)

SimpleMatrix	getStorage ()

final int	getNumCols ()

final int	getNumRows ()

final double	get (int row, int col)

final void	set (int row, int col, double value)

final void	setRow (int row, Matrix< N1, C > val)

final void	setColumn (int column, Matrix< R, N1 > val)

void	fill (double value)

final Matrix< R, C >	diag ()

final double	max ()

final double	maxAbs ()

final double	minInternal ()

final double	mean ()

final< C2 extends Num > Matrix< R, C2 >	times (Matrix< C, C2 > other)

Matrix< R, C >	times (double value)

final Matrix< R, C >	elementTimes (Matrix< R, C > other)

final Matrix< R, C >	minus (double value)

final Matrix< R, C >	minus (Matrix< R, C > value)

final Matrix< R, C >	plus (double value)

final Matrix< R, C >	plus (Matrix< R, C > value)

Matrix< R, C >	div (int value)

Matrix< R, C >	div (double value)

final Matrix< C, R >	transpose ()

final Matrix< R, C >	copy ()

final Matrix< R, C >	inv ()

final< C2 extends Num > Matrix< C, C2 >	solve (Matrix< R, C2 > b)

final< R2 extends Num, C2 extends Num > Matrix< C, C2 >	solveFullPivHouseholderQr (Matrix< R2, C2 > other)

final Matrix< R, C >	exp ()

final Matrix< R, C >	pow (double exponent)

final double	det ()

final double	normF ()

final double	normIndP1 ()

final double	elementSum ()

final double	trace ()

final Matrix< R, C >	elementPower (double b)

final Matrix< R, C >	elementPower (int b)

final Matrix< N1, C >	extractRowVector (int row)

final Matrix< R, N1 >	extractColumnVector (int column)

final< R2 extends Num, C2 extends Num > Matrix< R2, C2 >	block (Nat< R2 > height, Nat< C2 > width, int startingRow, int startingCol)

final< R2 extends Num, C2 extends Num > Matrix< R2, C2 >	block (int height, int width, int startingRow, int startingCol)

Matrix< R, C >	lltDecompose (boolean lowerTriangular)

double[]	getData ()

boolean	isIdentical (Matrix<?, ?> other, double tolerance)

boolean	isEqual (Matrix<?, ?> other, double tolerance)

void	rankUpdate (Matrix< R, N1 > v, double sigma, boolean lowerTriangular)

boolean	equals (Object other)

Static Public Member Functions
static< D extends Num > Matrix< D, D >	eye (Nat< D > dim)

static< D extends Num > Matrix< D, D >	eye (D dim)

static< R extends Num, C extends Num > MatBuilder< R, C >	mat (Nat< R > rows, Nat< C > cols)

static< R1 extends Num, C1 extends Num > Matrix< R1, C1 >	changeBoundsUnchecked (Matrix<?, ?> mat)

Protected Attributes
final SimpleMatrix	m_storage

Detailed Description

A shape-safe wrapper over Efficient Java Matrix Library (EJML) matrices.

This class is intended to be used alongside the state space library.

Parameters

<R>	The number of rows in this matrix.
<C>	The number of columns in this matrix.

Constructor & Destructor Documentation

◆ Matrix() [1/4]

edu.wpi.first.math.Matrix< R extends Num, C extends Num >.Matrix	(	Nat< R >	rows,
		Nat< C >	columns )

Constructs an empty zero matrix of the given dimensions.

Parameters

rows	The number of rows of the matrix.
columns	The number of columns of the matrix.

◆ Matrix() [2/4]

edu.wpi.first.math.Matrix< R extends Num, C extends Num >.Matrix	(	Nat< R >	rows,
		Nat< C >	columns,
		double[]	storage )

Constructs a new Matrix with the given storage. Caller should make sure that the provided generic bounds match the shape of the provided Matrix.

Parameters

rows	The number of rows of the matrix.
columns	The number of columns of the matrix.
storage	The double array to back this value.

◆ Matrix() [3/4]

edu.wpi.first.math.Matrix< R extends Num, C extends Num >.Matrix ( SimpleMatrix< R extends Num, C extends Num > storage )

Constructs a new Matrix with the given storage. Caller should make sure that the provided generic bounds match the shape of the provided Matrix.

NOTE:It is not recommend to use this constructor unless the SimpleMatrix API is absolutely necessary due to the desired function not being accessible through the Matrix wrapper.

Parameters

storage The SimpleMatrix to back this value.

◆ Matrix() [4/4]

edu.wpi.first.math.Matrix< R extends Num, C extends Num >.Matrix ( Matrix< R, C > other )

Constructs a new matrix with the storage of the supplied matrix.

Parameters

other The Matrix to copy the storage of.

Member Function Documentation

◆ block() [1/2]

final< R2 extends Num, C2 extends Num > Matrix< R2, C2 > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.block	(	int	height,
		int	width,
		int	startingRow,
		int	startingCol )

Extracts a matrix of a given size and start position with new underlying storage.

Parameters

<R2>	Number of rows to extract.
<C2>	Number of columns to extract.
height	The number of rows of the extracted matrix.
width	The number of columns of the extracted matrix.
startingRow	The starting row of the extracted matrix.
startingCol	The starting column of the extracted matrix.

Returns: The extracted matrix.

◆ block() [2/2]

final< R2 extends Num, C2 extends Num > Matrix< R2, C2 > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.block	(	Nat< R2 >	height,
		Nat< C2 >	width,
		int	startingRow,
		int	startingCol )

Extracts a matrix of a given size and start position with new underlying storage.

Parameters

<R2>	Number of rows to extract.
<C2>	Number of columns to extract.
height	The number of rows of the extracted matrix.
width	The number of columns of the extracted matrix.
startingRow	The starting row of the extracted matrix.
startingCol	The starting column of the extracted matrix.

Returns: The extracted matrix.

◆ changeBoundsUnchecked()

static< R1 extends Num, C1 extends Num > Matrix< R1, C1 > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.changeBoundsUnchecked ( Matrix<?, ?> mat )

static

Reassigns dimensions of a Matrix to allow for operations with other matrices that have wildcard dimensions.

Parameters

<R1>	Row dimension to assign.
<C1>	Column dimension to assign.
mat	The `Matrix` to remove the dimensions from.

Returns: The matrix with reassigned dimensions.

◆ copy()

final Matrix< R, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.copy ( )

Returns a copy of this matrix.

Returns: A copy of this matrix.

◆ det()

final double edu.wpi.first.math.Matrix< R extends Num, C extends Num >.det ( )

Returns the determinant of this matrix.

Returns: The determinant of this matrix.

◆ diag()

final Matrix< R, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.diag ( )

Returns the diagonal elements inside a vector or square matrix.

If "this" Matrix is a vector then a square matrix is returned. If a "this" Matrix is a matrix then a vector of diagonal elements is returned.

Returns: The diagonal elements inside a vector or a square matrix.

◆ div() [1/2]

Matrix< R, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.div ( double value )

Divides all elements of this matrix by the given value.

Parameters

value The value to divide by.

Returns: The resultant matrix.

◆ div() [2/2]

Matrix< R, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.div ( int value )

Divides all elements of this matrix by the given value.

Parameters

value The value to divide by.

Returns: The resultant matrix.

◆ elementPower() [1/2]

final Matrix< R, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.elementPower ( double b )

Returns a matrix which is the result of an element by element power of "this" and b.

c_i,j = a_i,j ^ b

Parameters

b Scalar.

Returns: The element by element power of "this" and b.

◆ elementPower() [2/2]

final Matrix< R, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.elementPower ( int b )

Returns a matrix which is the result of an element by element power of "this" and b.

c_i,j = a_i,j ^ b

Parameters

b Scalar.

Returns: The element by element power of "this" and b.

◆ elementSum()

final double edu.wpi.first.math.Matrix< R extends Num, C extends Num >.elementSum ( )

Computes the sum of all the elements in the matrix.

Returns: Sum of all the elements.

◆ elementTimes()

final Matrix< R, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.elementTimes ( Matrix< R, C > other )

Returns a matrix which is the result of an element by element multiplication of "this" and other.

c_i,j = a_i,j*other_i,j

Parameters

other The other Matrix to perform element multiplication on.

Returns: The element by element multiplication of "this" and other.

◆ equals()

boolean edu.wpi.first.math.Matrix< R extends Num, C extends Num >.equals ( Object other )

Checks if an object is equal to this Matrix.

a_ij == b_ij

Parameters

other The Object to check against this Matrix.

Returns: true if the object supplied is a Matrix and is equal to this matrix.

◆ exp()

final Matrix< R, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.exp ( )

Computes the matrix exponential using Eigen's solver. This method only works for square matrices, and will otherwise throw an MatrixDimensionException.

Returns: The exponential of A.

◆ extractColumnVector()

final Matrix< R, N1 > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.extractColumnVector ( int column )

Extracts a given column into a column vector with new underlying storage.

Parameters

column The column to extract a vector from.

Returns: A column vector from the given column.

◆ extractRowVector()

final Matrix< N1, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.extractRowVector ( int row )

Extracts a given row into a row vector with new underlying storage.

Parameters

row	The row to extract a vector from.

Returns: A row vector from the given row.

◆ eye() [1/2]

static< D extends Num > Matrix< D, D > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.eye ( D dim )

static

Creates the identity matrix of the given dimension.

Parameters

dim	The dimension of the desired matrix as a `Num`.
<D>	The dimension of the desired matrix as a generic.

Returns: The DxD identity matrix.

◆ eye() [2/2]

static< D extends Num > Matrix< D, D > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.eye ( Nat< D > dim )

static

Creates the identity matrix of the given dimension.

Parameters

dim	The dimension of the desired matrix as a `Nat`.
<D>	The dimension of the desired matrix as a generic.

Returns: The DxD identity matrix.

◆ fill()

void edu.wpi.first.math.Matrix< R extends Num, C extends Num >.fill ( double value )

Sets all the elements in "this" matrix equal to the specified value.

Parameters

value The value each element is set to.

◆ get()

final double edu.wpi.first.math.Matrix< R extends Num, C extends Num >.get	(	int	row,
		int	col )

Get an element of this matrix.

Parameters

row	The row of the element.
col	The column of the element.

Returns: The element in this matrix at row,col.

◆ getData()

double[] edu.wpi.first.math.Matrix< R extends Num, C extends Num >.getData ( )

Returns the row major data of this matrix as a double array.

Returns: The row major data of this matrix as a double array.

◆ getNumCols()

final int edu.wpi.first.math.Matrix< R extends Num, C extends Num >.getNumCols ( )

Gets the number of columns in this matrix.

Returns: The number of columns, according to the internal storage.

◆ getNumRows()

final int edu.wpi.first.math.Matrix< R extends Num, C extends Num >.getNumRows ( )

Gets the number of rows in this matrix.

Returns: The number of rows, according to the internal storage.

◆ getStorage()

SimpleMatrix edu.wpi.first.math.Matrix< R extends Num, C extends Num >.getStorage ( )

Gets the underlying SimpleMatrix that this Matrix wraps.

NOTE:The use of this method is heavily discouraged as this removes any guarantee of type safety. This should only be called if the SimpleMatrix API is absolutely necessary due to the desired function not being accessible through the Matrix wrapper.

Returns: The underlying SimpleMatrix storage.

◆ inv()

final Matrix< R, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.inv ( )

Returns the inverse matrix of "this" matrix.

Returns: The inverse of "this" matrix.

Exceptions

org.ejml.data.SingularMatrixException If "this" matrix is non-invertable.

◆ isEqual()

boolean edu.wpi.first.math.Matrix< R extends Num, C extends Num >.isEqual	(	Matrix<?, ?>	other,
		double	tolerance )

Checks if another Matrix is equal to "this" within a specified tolerance.

This will check if each element is in tolerance of the corresponding element from the other Matrix.

tol ≥ |a_ij - b_ij|

Parameters

other	The `Matrix` to check against this one.
tolerance	The tolerance to check equality with.

Returns: true if this matrix is equal to the one supplied.

◆ isIdentical()

boolean edu.wpi.first.math.Matrix< R extends Num, C extends Num >.isIdentical	(	Matrix<?, ?>	other,
		double	tolerance )

Checks if another Matrix is identical to "this" one within a specified tolerance.

This will check if each element is in tolerance of the corresponding element from the other Matrix or if the elements have the same symbolic meaning. For two elements to have the same symbolic meaning they both must be either Double.NaN, Double.POSITIVE_INFINITY, or Double.NEGATIVE_INFINITY.

NOTE:It is recommended to use Matrix#isEqual(Matrix, double) over this method when checking if two matrices are equal as Matrix#isEqual(Matrix, double) will return false if an element is uncountable. This method should only be used when uncountable elements need to be compared.

Parameters

other	The `Matrix` to check against this one.
tolerance	The tolerance to check equality with.

Returns: true if this matrix is identical to the one supplied.

◆ lltDecompose()

Matrix< R, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.lltDecompose ( boolean lowerTriangular )

Decompose "this" matrix using Cholesky Decomposition. If the "this" matrix is zeros, it will return the zero matrix.

Parameters

lowerTriangular Whether we want to decompose to the lower triangular Cholesky matrix.

Returns: The decomposed matrix.

Exceptions

RuntimeException if the matrix could not be decomposed(i.e. is not positive semidefinite).

◆ mat()

static< R extends Num, C extends Num > MatBuilder< R, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.mat	(	Nat< R >	rows,
		Nat< C >	cols )

static

Entrypoint to the MatBuilder class for creation of custom matrices with the given dimensions and contents.

Parameters

rows	The number of rows of the desired matrix.
cols	The number of columns of the desired matrix.
<R>	The number of rows of the desired matrix as a generic.
<C>	The number of columns of the desired matrix as a generic.

Returns: A builder to construct the matrix.

Deprecated: Use MatBuilder#fill instead.

◆ max()

final double edu.wpi.first.math.Matrix< R extends Num, C extends Num >.max ( )

Returns the largest element of this matrix.

Returns: The largest element of this matrix.

◆ maxAbs()

final double edu.wpi.first.math.Matrix< R extends Num, C extends Num >.maxAbs ( )

Returns the absolute value of the element in this matrix with the largest absolute value.

Returns: The absolute value of the element with the largest absolute value.

◆ mean()

final double edu.wpi.first.math.Matrix< R extends Num, C extends Num >.mean ( )

Calculates the mean of the elements in this matrix.

Returns: The mean value of this matrix.

◆ minInternal()

final double edu.wpi.first.math.Matrix< R extends Num, C extends Num >.minInternal ( )

Returns the smallest element of this matrix.

Returns: The smallest element of this matrix.

◆ minus() [1/2]

final Matrix< R, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.minus ( double value )

Subtracts the given value from all the elements of this matrix.

Parameters

value The value to subtract.

Returns: The resultant matrix.

◆ minus() [2/2]

final Matrix< R, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.minus ( Matrix< R, C > value )

Subtracts the given matrix from this matrix.

Parameters

value The matrix to subtract.

Returns: The resultant matrix.

◆ normF()

final double edu.wpi.first.math.Matrix< R extends Num, C extends Num >.normF ( )

Computes the Frobenius normal of the matrix.

normF = Sqrt{ ∑_i=1:m ∑_j=1:n { a_ij²} }

Returns: The matrix's Frobenius normal.

◆ normIndP1()

final double edu.wpi.first.math.Matrix< R extends Num, C extends Num >.normIndP1 ( )

Computes the induced p = 1 matrix norm.

||A||₁= max(j=1 to n; sum(i=1 to m; |a_ij|))

Returns: The norm.

◆ plus() [1/2]

final Matrix< R, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.plus ( double value )

Adds the given value to all the elements of this matrix.

Parameters

value The value to add.

Returns: The resultant matrix.

◆ plus() [2/2]

final Matrix< R, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.plus ( Matrix< R, C > value )

Adds the given matrix to this matrix.

Parameters

value The matrix to add.

Returns: The resultant matrix.

◆ pow()

final Matrix< R, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.pow ( double exponent )

Computes the matrix power using Eigen's solver. This method only works for square matrices, and will otherwise throw an MatrixDimensionException.

Parameters

exponent The exponent.

Returns: The exponential of A.

◆ rankUpdate()

void edu.wpi.first.math.Matrix< R extends Num, C extends Num >.rankUpdate	(	Matrix< R, N1 >	v,
		double	sigma,
		boolean	lowerTriangular )

Performs an inplace Cholesky rank update (or downdate).

If this matrix contains L where A = LLᵀ before the update, it will contain L where LLᵀ = A + σvvᵀ after the update.

Parameters

v	Vector to use for the update.
sigma	Sigma to use for the update.
lowerTriangular	Whether this matrix is lower triangular.

◆ set()

final void edu.wpi.first.math.Matrix< R extends Num, C extends Num >.set	(	int	row,
		int	col,
		double	value )

Sets the value at the given indices.

Parameters

row	The row of the element.
col	The column of the element.
value	The value to insert at the given location.

◆ setColumn()

final void edu.wpi.first.math.Matrix< R extends Num, C extends Num >.setColumn	(	int	column,
		Matrix< R, N1 >	val )

Sets a column to a given column vector.

Parameters

column	The column to set.
val	The column vector to set the given row to.

◆ setRow()

final void edu.wpi.first.math.Matrix< R extends Num, C extends Num >.setRow	(	int	row,
		Matrix< N1, C >	val )

Sets a row to a given row vector.

Parameters

row	The row to set.
val	The row vector to set the given row to.

◆ solve()

final< C2 extends Num > Matrix< C, C2 > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.solve ( Matrix< R, C2 > b )

Returns the solution x to the equation Ax = b, where A is "this" matrix.

The matrix equation could also be written as x = A^-1b. Where the pseudo inverse is used if A is not square.

Note that this method does not support solving using a QR decomposition with full-pivoting, as only column-pivoting is supported. For full-pivoting, use solveFullPivHouseholderQr.

Parameters

<C2>	Columns in b.
b	The right-hand side of the equation to solve.

Returns: The solution to the linear system.

◆ solveFullPivHouseholderQr()

final< R2 extends Num, C2 extends Num > Matrix< C, C2 > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.solveFullPivHouseholderQr ( Matrix< R2, C2 > other )

Solves the least-squares problem Ax=B using a QR decomposition with full pivoting, where this matrix is A.

Parameters

<R2>	Number of rows in B.
<C2>	Number of columns in B.
other	The B matrix.

Returns: The solution matrix.

◆ times() [1/2]

Matrix< R, C > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.times ( double value )

Multiplies all the elements of this matrix by the given scalar.

Parameters

value The scalar value to multiply by.

Returns: A new matrix with all the elements multiplied by the given value.

◆ times() [2/2]

final< C2 extends Num > Matrix< R, C2 > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.times ( Matrix< C, C2 > other )

Multiplies this matrix with another that has C rows.

As matrix multiplication is only defined if the number of columns in the first matrix matches the number of rows in the second, this operation will fail to compile under any other circumstances.

Parameters

other	The other matrix to multiply by.
<C2>	The number of columns in the second matrix.

Returns: The result of the matrix multiplication between "this" and the given matrix.

◆ trace()

final double edu.wpi.first.math.Matrix< R extends Num, C extends Num >.trace ( )

Computes the trace of the matrix.

Returns: The trace of the matrix.

◆ transpose()

final Matrix< C, R > edu.wpi.first.math.Matrix< R extends Num, C extends Num >.transpose ( )

Calculates the transpose, Mᵀ of this matrix.

Returns: The transpose matrix.

Member Data Documentation

◆ m_storage

final SimpleMatrix edu.wpi.first.math.Matrix< R extends Num, C extends Num >.m_storage

protected

Storage for underlying EJML matrix.

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

D:/SDASVN/2024/RaspberryPi/VSCode/Source/edu/wpi/first/math/Matrix.java

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Matrix() [1/4]

◆ Matrix() [2/4]

◆ Matrix() [3/4]

◆ Matrix() [4/4]

Member Function Documentation

◆ block() [1/2]

◆ block() [2/2]

◆ changeBoundsUnchecked()

◆ copy()

◆ det()

◆ diag()

◆ div() [1/2]

◆ div() [2/2]

◆ elementPower() [1/2]

◆ elementPower() [2/2]

◆ elementSum()

◆ elementTimes()

◆ equals()

◆ exp()

◆ extractColumnVector()

◆ extractRowVector()

◆ eye() [1/2]

◆ eye() [2/2]

◆ fill()

◆ get()

◆ getData()

◆ getNumCols()

◆ getNumRows()

◆ getStorage()

◆ inv()

◆ isEqual()

◆ isIdentical()

◆ lltDecompose()

◆ mat()

◆ max()

◆ maxAbs()

◆ mean()

◆ minInternal()

◆ minus() [1/2]

◆ minus() [2/2]

◆ normF()

◆ normIndP1()

◆ plus() [1/2]

◆ plus() [2/2]

◆ pow()

◆ rankUpdate()

◆ set()

◆ setColumn()

◆ setRow()

◆ solve()

◆ solveFullPivHouseholderQr()

◆ times() [1/2]

◆ times() [2/2]

◆ trace()

◆ transpose()

Member Data Documentation

◆ m_storage