Namespaces
namespace	assert

namespace	internal

namespace	math

Classes
class	never_destroyed
	Wraps an underlying type T such that its storage is a direct member field of this object (i.e., without any indirection into the heap), but unlike most member fields T's destructor is never invoked. More...

Functions
template<typename DerivedA , typename DerivedB >
bool	is_approx_equal_abstol (const Eigen::MatrixBase< DerivedA > &m1, const Eigen::MatrixBase< DerivedB > &m2, double tolerance)
	Returns true if and only if the two matrices are equal to within a certain absolute elementwise `tolerance`. More...

template<typename DerivedA , typename DerivedB >
bool	IsApproxEqualAbsTolWithPermutedColumns (const Eigen::MatrixBase< DerivedA > &m1, const Eigen::MatrixBase< DerivedB > &m2, double tolerance)
	Returns true if and only if a simple greedy search reveals a permutation of the columns of m2 to make the matrix equal to m1 to within a certain absolute elementwise `tolerance`. More...

Variables
constexpr bool	kDrakeAssertIsArmed = true

constexpr bool	kDrakeAssertIsDisarmed = false

Function Documentation

◆ is_approx_equal_abstol()

template<typename DerivedA , typename DerivedB >

bool drake::is_approx_equal_abstol	(	const Eigen::MatrixBase< DerivedA > &	m1,
		const Eigen::MatrixBase< DerivedB > &	m2,
		double	tolerance
	)

Returns true if and only if the two matrices are equal to within a certain absolute elementwise tolerance.

Special values (infinities, NaN, etc.) do not compare as equal elements.

◆ IsApproxEqualAbsTolWithPermutedColumns()

template<typename DerivedA , typename DerivedB >

bool drake::IsApproxEqualAbsTolWithPermutedColumns	(	const Eigen::MatrixBase< DerivedA > &	m1,
		const Eigen::MatrixBase< DerivedB > &	m2,
		double	tolerance
	)

Returns true if and only if a simple greedy search reveals a permutation of the columns of m2 to make the matrix equal to m1 to within a certain absolute elementwise tolerance.

E.g., there exists a P such that

   forall i,j,  |m1 - m2*P|_{i,j} <= tolerance
   where P is a permutation matrix:
      P(i,j)={0,1}, sum_i P(i,j)=1, sum_j P(i,j)=1.

Note: Returns false for matrices of different sizes. Note: The current implementation is O(n^2) in the number of columns. Note: In marginal cases (with similar but not identical columns) this algorithm can fail to find a permutation P even if it exists because it accepts the first column match (m1(i),m2(j)) and removes m2(j) from the pool. It is possible that other columns of m2 would also match m1(i) but that m2(j) is the only match possible for a later column of m1.

Variable Documentation

◆ kDrakeAssertIsArmed

constexpr bool drake::kDrakeAssertIsArmed = true

constexpr

◆ kDrakeAssertIsDisarmed

constexpr bool drake::kDrakeAssertIsDisarmed = false

constexpr

Namespaces

Classes