Eigen是一个C++开源线性代数库。提供有关矩阵的的线性代数运算,解方程等功能。
官方的文档在此,本文是简单的使用,以SLAM十四讲代码阅读,快速入门。
http://eigen.tuxfamily.org/dox/classEigen_1_1Transform.html
一、Ubantu安装eigen
$ sudo apt-get install libeigen3-dev
二、eigen的主要模块 Header Contents
Module | contents |
---|---|
#include <Eigen/Core> | Matrix and Array classes, basic linear algebra (including triangular and selfadjoint products), array manipulation |
#include <Eigen/Geometry> | Transform, Translation, Scaling, Rotation2D and 3D rotations (Quaternion, AngleAxis) |
#include <Eigen/LU> | Inverse, determinant, LU decompositions with solver (FullPivLU, PartialPivLU) |
#include <Eigen/Cholesky> | LLT and LDLT Cholesky factorization with solver |
#include <Eigen/Householder> | Householder transformations; this module is used by several linear algebra modules |
#include <Eigen/SVD> | SVD decompositions with least-squares solver (JacobiSVD, BDCSVD) |
#include <Eigen/QR> | QR decomposition with solver (HouseholderQR, ColPivHouseholderQR, FullPivHouseholderQR) |
#include <Eigen/Eigenvalues> | Eigenvalue, eigenvector decompositions (EigenSolver, SelfAdjointEigenSolver, ComplexEigenSolver) |
#include <Eigen/Sparse> | Sparse matrix storage and related basic linear algebra (SparseMatrix, SparseVector) |
#include <Eigen/Den |