Eigen教程（二）-Matrix And Vector Arithmetic

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1.Addition and subtraction

如果是二元运算符，则左右两边矩阵需要有同样的行和列，因为Eigen不会进行类型转换，所以两个矩阵的数据类型（Scalar）也必须一样，这些操作符包括：

• 二元操作符+、-，如a+b、a-b
• 一元操作符-，如-b
• 组合操作符+=、-=，如a+=b、a-=b

#include <isotream>
#include <Eigen/Dense>

using namespace std;
using namespace Eigen;

int main()
{
	Matrix2d a;
	a << 1, 2, 3, 4;
	MatrixXd b(2, 2);
	b << 2, 3, 1, 4;
	cout << "a + b =\n" << a + b << endl;
	cout << "a - b = \n" << a -b << endl;
	cout << "Doing a += b" << endl;
	a += b;
	cout << "Now a =\n" << a << endl;
	Vector3d v(1, 2, 3);
	Vector3d w(1, 0, 0);
	cout << "-v + w - v =\n" << -v + w - v << endl;
	
	return 0;
}

输出结果如下：

a + b =
3 5
4 8
a - b = 
-1 -1
 2  0
Doing a += b
Now a =
3 5
4 8
-v + w - v =
-1
-4
-6

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2.Scalar multiplication and division

• 二元操作符*，如Matrix * Scalar、Scalar * Matrix
• 二元操作符/，如Matrix / Scalar
• 组合操作符*=、/=，如Matrix *= Scalar、Matrix /= Scalar

#include <iostream>
#include <Eigen/Dense>
 
using namespace Eigen;
 
int main()
{
  Matrix2d a;
  a << 1, 2,
       3, 4;
  Vector3d v(1,2,3);
  std::cout << "a * 2.5 =\n" << a * 2.5 << std::endl;
  std::cout << "0.1 * v =\n" << 0.1 * v << std::endl;
  std::cout << "Doing v *= 2;" << std::endl;
  v *= 2;
  std::cout << "Now v =\n" << v << std::endl;
}

输出如下：

a * 2.5 =
2.5   5
7.5  10
0.1 * v =
0.1
0.2
0.3
Doing v *= 2;
Now v =
2
4
6

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3.Transposition and conjugation

三个函数：

• transpose()：转置
• conjugate()：共轭
• adjoint()：共轭转置

对于实值矩阵而言，transpose()和adjoint()等价：

MatrixXcf a = MatrixXcf::Random(2,2);
cout << "Here is the matrix a\n" << a << endl;
 
cout << "Here is the matrix a^T\n" << a.transpose() << endl;
 
cout << "Here is the conjugate of a\n" << a.conjugate() << endl;
 
cout << "Here is the matrix a^*\n" << a.adjoint() << endl;

输出结果如下：

Here is the matrix a
    (-1,-0.737) (0.0655,-0.562)
(0.511,-0.0827)  (-0.906,0.358)
Here is the matrix a^T
    (-1,-0.737) (0.511,-0.0827)
(0.0655,-0.562)  (-0.906,0.358)
Here is the conjugate of a
     (-1,0.737)  (0.0655,0.562)
 (0.511,0.0827) (-0.906,-0.358)
Here is the matrix a^*
     (-1,0.737)  (0.511,0.0827)
 (0.0655,0.562) (-0.906,-0.358)

• 需要注意一点，transpose()不支持inplace的转置，因此像a = a.transpose()这样的语句是不能够完成转置操作的。
• 但是Eigen提供了transposeInPlcae()函数，该函数支持inplace操作，因此a = a.transposeInPlace()这样的操作是成立的。

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4.Matrix-matrix and matrix-vector multiplication

上面介绍了标量与矩阵的乘除，事实上，矩阵乘法同样用到了*、*=，直接上例子：

#include <iostream>
#include <Eigen/Dense>
 
using namespace Eigen;
int main()
{
  Matrix2d mat;
  mat << 1, 2,
         3, 4;
  Vector2d u(-1,1), v(2,0);
  std::cout << "Here is mat*mat:\n" << mat*mat << std::endl;
  std::cout << "Here is mat*u:\n" << mat*u << std::endl;
  std::cout << "Here is u^T*mat:\n" << u.transpose()*mat << std::endl;
  std::cout << "Here is u^T*v:\n" << u.transpose()*v << std::endl;
  std::cout << "Here is u*v^T:\n" << u*v.transpose() << std::endl;
  std::cout << "Let's multiply mat by itself" << std::endl;
  mat = mat*mat;
  std::cout << "Now mat is mat:\n" << mat << std::endl;
}

输出如下：

Here is mat*mat:
 7 10
15 22
Here is mat*u:
1
1
Here is u^T*mat:
2 2
Here is u^T*v:
-2
Here is u*v^T:
-2 -0
 2  0
Let's multiply mat by itself
Now mat is mat:
 7 10
15 22

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5.Dot product and cross product

两个函数：

• dot()：点乘
• cross()：叉乘

注意叉乘只适用于3维向量，点乘适用于任何维数的向量

直接看例子：

#include <iostream>
#include <Eigen/Dense>
 
using namespace Eigen;
using namespace std;
int main()
{
  Vector3d v(1,2,3);
  Vector3d w(0,1,2);
 
  cout << "Dot product: " << v.dot(w) << endl;
  double dp = v.adjoint()*w; // automatic conversion of the inner product to a scalar
  cout << "Dot product via a matrix product: " << dp << endl;
  cout << "Cross product:\n" << v.cross(w) << endl;
}

输出如下：

Dot product: 8
Dot product via a matrix product: 8
Cross product:
 1
-2
 1

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6.Basic arithmetic reduction operations

• sum()：矩阵所有元素之和
• prod()：矩阵所有元素之积
• mean()：矩阵所有元素平均值，相当于A.sum() / (A.rows() * A.cols())
• minCoeff()、maxCoeff()：矩阵元素的最小值、最大值
• trace()：矩阵的迹（对角线之和）相当于A.diagonal().sum()

#include <iostream>
#include <Eigen/Dense>
 
using namespace std;
int main()
{
  Eigen::Matrix2d mat;
  mat << 1, 2,
         3, 4;
  cout << "Here is mat.sum():       " << mat.sum()       << endl;
  cout << "Here is mat.prod():      " << mat.prod()      << endl;
  cout << "Here is mat.mean():      " << mat.mean()      << endl;
  cout << "Here is mat.minCoeff():  " << mat.minCoeff()  << endl;
  cout << "Here is mat.maxCoeff():  " << mat.maxCoeff()  << endl;
  cout << "Here is mat.trace():     " << mat.trace()     << endl;
}

输出如下：

Here is mat.sum():       10
Here is mat.prod():      24
Here is mat.mean():      2.5
Here is mat.minCoeff():  1
Here is mat.maxCoeff():  4
Here is mat.trace():     5

minCoeff()、maxCoeff()也有参数，能够返回对应值的坐标位置：

  Matrix3f m = Matrix3f::Random();
  std::ptrdiff_t i, j;
  float minOfM = m.minCoeff(&i,&j);	// i,j就是对应的横纵坐标
  cout << "Here is the matrix m:\n" << m << endl;
  cout << "Its minimum coefficient (" << minOfM 
       << ") is at position (" << i << "," << j << ")\n\n";
 
  RowVector4i v = RowVector4i::Random();
  int maxOfV = v.maxCoeff(&i);	// i就是对应的元素位置
  cout << "Here is the vector v: " << v << endl;
  cout << "Its maximum coefficient (" << maxOfV 
       << ") is at position " << i << endl;

输出如下：

Here is the matrix m:
     -1 -0.0827  -0.906
 -0.737  0.0655   0.358
  0.511  -0.562   0.359
Its minimum coefficient (-1) is at position (0,0)

Here is the vector v:  9 -2  0  7
Its maximum coefficient (9) is at position 0