Eigen矩阵运算库使用

1. $l_p$ norm／p范数计算

L2范数 squareNorm()，等价于计算vector的自身点积，norm()返回squareNorm的开方根。

这些操作应用于matrix，norm() 会返回Frobenius或Hilbert-Schmidt范数。

如果你想使用其他Lp范数，可以使用lpNorm< p >()方法。p可以取Infinity，表示L∞范数。

int main()
{
  VectorXf v(2);
  MatrixXf m(2,2), n(2,2);
  
  v << -1,
       2;
  
  m << 1,-2,
       -3,4;
  cout << "v.squaredNorm() = " << v.squaredNorm() << endl;
  cout << "v.norm() = " << v.norm() << endl;
  cout << "v.lpNorm<1>() = " << v.lpNorm<1>() << endl;
  cout << "v.lpNorm<Infinity>() = " << v.lpNorm<Infinity>() << endl;
  cout << endl;
  cout << "m.squaredNorm() = " << m.squaredNorm() << endl;
  cout << "m.norm() = " << m.norm() << endl;
  cout << "m.lpNorm<1>() = " << m.lpNorm<1>() << endl;
  cout << "m.lpNorm<Infinity>() = " << m.lpNorm<Infinity>() << endl;
}

2. colwise()/rowwise()

将矩阵理解成每一列／行进行单独运算

double stop1 = (X-Xo1).colwise().norm().maxCoeff();

3. array()

矩阵的相应位置元素的计算，可以实现卷积，Array的赋值、加法、减法也与Matrix类似，需要说明的是Array相乘，这个操作类似于Matlab中的".*"，对应元素做计算，所以两个Array相乘，只能是大小相同的Array。

Array提供了一些操作函数，abs()，求每个元素的绝对值；sqrt()，求每个元素的算术平方根；a.min(b)，求a和b中每个位置较小的元素。

4. block< r,c >(i,j) / block(i,j,r,c)

从（i，j）位置开始取 $r\times c$ 大小的矩阵块，并且可以进行赋值

5. cast< T >.()

实现矩阵类型的转换

Eigen::MatrixXf mf;
Eigen::MatrixXd md = mf.cast<double>();

6. noalias() eval() 矩阵赋值混淆问题

参考资料

7. matlab矩阵相关

Eigen全面

8. aligned_allocator

内存对齐，防止出现段错误！

std::vector<Eigen::Matrix4d,Eigen::aligned_allocator<Eigen::Matrix4d>>

Eigen内存对齐原理

9. slerp

球面线性插值（Spherical linear interpolation，通常简称Slerp），是四元数的一种线性插值运算，主要用于在两个表示旋转的四元数之间平滑差值。下面来简单推导一下Slerp的公式。

$Slerp(q_1,q_2,t)=\frac{sin[(1-t)\theta ]q_1+sint\theta q_2}{sin\theta }$

参考原理

#include <iostream>
#include <math.h>

void slerp(float starting[4], float ending[4], float result[4], float t )
{
    float cosa = starting[0]*ending[0] + starting[1]*ending[1] + starting[2]*ending[2] + starting[3]*ending[3];
    
    // If the dot product is negative, the quaternions have opposite handed-ness and slerp won't take
    // the shorter path. Fix by reversing one quaternion.
    if ( cosa < 0.0f ) 
    {
        ending[0] = -ending[0];
        ending[1] = -ending[1];
        ending[2] = -ending[2];
        ending[3] = -ending[3];
        cosa = -cosa;
    }
    
    float k0, k1;
    
    // If the inputs are too close for comfort, linearly interpolate
    if ( cosa > 0.9995f ) 
    {
        k0 = 1.0f - t;
        k1 = t;
    }
    else 
    {
        float sina = sqrt( 1.0f - cosa*cosa );
        float a = atan2( sina, cosa );
        k0 = sin((1.0f - t)*a)  / sina;
        k1 = sin(t*a) / sina;
    }
    result[0] = starting[0]*k0 + ending[0]*k1;
    result[1] = starting[1]*k0 + ending[1]*k1;
    result[2] = starting[2]*k0 + ending[2]*k1;
    result[3] = starting[3]*k0 + ending[3]*k1;
}



int main()
{
     
    float p[4] = {1,0,0,0};
    float q[4] = {0.707,0,0,0.707};
    float r[4] = {0};

    slerp(p,q,r,0.333);
    std::cout<<r[0]<<","<<r[1]<<","<<r[2]<<","<<r[3]<<std::endl;

    slerp(p,q,r,0.667);
    std::cout<<r[0]<<","<<r[1]<<","<<r[2]<<","<<r[3]<<std::endl;

    return 0;
}

10. 矩阵的最大最小值及其位置

double min = mMat.minCoeff(&minRow,&minCol);
double max = mMat.maxCoeff(&maxRow,&maxCol);
    cout << "Max = \n" << max << endl;
	cout << "Min = \n" << min << endl;
	cout << "minRow = " << minRow << "minCol = " <<minCol<<endl;
	cout << "maxRow = " << maxRow << "maxCol = " << maxCol << endl;