Ubuntu安装eigen

Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.

 

1.官网下载源码

http://eigen.tuxfamily.org/index.php?title=Main_Page

2.解压后，在源码目录创建一个新目录

1) mkdir build

2) cd build

3) cmake ..

4) make 

5) sudo make install

3.默认安装到//usr/local/include/eigen3

cd  /usr/local/include/eigen3

sudo cp * ../  -a

PS:由于eigen是一个模板类，并没有实际编译成动态库，此处只是将相应头文件拷贝到系统默认目录下/usr/lcoa/include/

 

3.test

#include <iostream>
#include <vector>
#include "Eigen/Dense"

using std::cout;
using std::endl;
using std::vector;
using Eigen::VectorXd;
using Eigen::MatrixXd;

// Kalman Filter variables
VectorXd x;	// object state
MatrixXd P;	// object covariance matrix
int main() {
	/**
	* Code used as example to work with Eigen matrices
	*/
	// design the KF with 1D motion
	x = VectorXd(2);
	x << 0, 0;
	std::cout<<"Matrix x:\n"<<x<<std::endl;

	P = MatrixXd(2, 2);
	P << 1000, 0, 0, 1000;
	std::cout<<"Matrix P:\n"<<P<<std::endl;
}

g++ km.cpp

./a.out