std::vector<double> eigenToStdVector(const Eigen::VectorXd& eigenV,
int initialPose,
int length)
{
if ( length == - 1)
length = eigenV.size() - initialPose;
std::vector<double> stdVector(length);
for (int i = initialPose; i < initialPose + length; ++i)
stdVector[i - initialPose] = eigenV[i];
return stdVector;
}
std::vector<double> vispToStdVector(const vpColVector& vpVector,
int initialPose,
int length)
{
if ( length == - 1)
length = vpVector.size() - initialPose;
std::vector<double> stdVector(length);
for (int i = initialPose; i < initialPose + length; ++i)
stdVector[i - initialPose] = vpVector[i];
return stdVector;
}
typename aol::Vector<_DataType>::RealType aol::Vector<_DataType>::getMedianValue ( ) const {
const int sz = this->size();
std::vector< DataType > stdVector ( sz );
for ( int i = 0; i < sz; ++i ) {
stdVector[i] = (*this)[i];
}
std::sort ( stdVector.begin(), stdVector.end() );
RealType ret;
if ( sz == 0 ) {
throw aol::Exception ( "Cannot compute median of empty vector", __FILE__, __LINE__ );
} else if ( sz % 2 == 1 ) { // for odd size, take central value
ret = static_cast<RealType> ( stdVector[ sz/2 ] );
} else { // for even size, take arithmetic mean of two central values
ret = static_cast<RealType> ( stdVector[ sz/2 - 1 ] + stdVector [ sz/2 ] ) / 2;
}
return ( ret );
}
