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30 class ExpressionFactorShallowTest;
57 std::shared_ptr<internal::ExpressionNode<T> >
root_;
70 typedef std::function<
74 template<
class A1,
class A2>
76 typedef std::function<
81 template<
class A1,
class A2,
class A3>
83 typedef std::function<
84 T(
const A1&,
const A2&,
const A3&,
108 template<
typename A1,
typename A2>
113 template<
typename A1,
typename A2,
typename A3>
124 template<
typename A1,
typename A2>
131 template<
typename A1,
typename A2,
typename A3>
133 T (
A1::*method)(
const A2&,
const A3&,
144 std::set<Key>
keys()
const;
147 void dims(std::map<Key, int>& map)
const;
150 void print(
const std::string&
s)
const;
172 virtual std::shared_ptr<Expression>
clone()
const {
173 return std::make_shared<Expression>(*
this);
177 const std::shared_ptr<internal::ExpressionNode<T> >&
root()
const;
200 char* traceStorage)
const;
211 friend class ::ExpressionFactorShallowTest;
218 template <
typename T>
231 template <
typename T>
246 template <
typename T,
typename A>
266 template <
typename T>
277 template <
typename T>
283 template <
typename T>
286 return e1 + (-1.0) * e2;
295 Expression<T>
operator*(
const Expression<T>& e1,
const Expression<T>& e2);
303 std::vector<Expression<T> >
createUnknowns(
size_t n,
char c,
size_t start = 0);
KeysAndDims keysAndDims() const
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std::function< T(const A1 &, typename MakeOptionalJacobian< T, A1 >::type)> type
T value(const Values &values, std::vector< Matrix > *H=nullptr) const
Return value and optional derivatives, reverse AD version Notes: this is not terribly efficient,...
ScalarMultiplyExpression(double s, const Expression< T > &e)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
std::function< T(const A1 &, const A2 &, const A3 &, typename MakeOptionalJacobian< T, A1 >::type, typename MakeOptionalJacobian< T, A2 >::type, typename MakeOptionalJacobian< T, A3 >::type)> type
BinarySumExpression(const Expression< T > &e1, const Expression< T > &e2)
Errors operator-(const Errors &a, const Errors &b)
Subtraction.
std::vector< T, typename internal::FastDefaultVectorAllocator< T >::type > FastVector
GTSAM_CONCEPT_ASSERT(IsVectorSpace< T >)
Eigen::Triplet< double > T
std::shared_ptr< internal::ExpressionNode< T > > root_
virtual std::shared_ptr< Expression > clone() const
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
T valueAndDerivatives(const Values &values, const KeyVector &keys, const FastVector< int > &dims, std::vector< Matrix > &H) const
private version that takes keys and dimensions, returns derivatives
JacobianMap for returning derivatives from expressions.
T value(const Values &values, std::vector< Matrix > &H) const
Point2 operator*(double s, const Point2 &p)
multiply with scalar
const std::shared_ptr< internal::ExpressionNode< T > > & root() const
Return root.
std::set< Key > keys() const
Return keys that play in this expression.
std::pair< KeyVector, FastVector< int > > KeysAndDims
Keys and dimensions in same order.
Key symbol(unsigned char c, std::uint64_t j)
std::vector< Expression< T > > createUnknowns(size_t n, char c, size_t start)
Construct an array of leaves.
Special class for optional Jacobian arguments.
Expression()
Default constructor, for serialization.
Internals for Expression.h, not for general consumption.
void print(const std::string &s) const
Print.
void g(const string &key, int i)
void dims(std::map< Key, int > &map) const
Return dimensions for each argument, as a map.
HybridGaussianProductFactor operator+(const HybridGaussianProductFactor &a, const HybridGaussianProductFactor &b)
const gtsam::Symbol key('X', 0)
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
size_t traceSize() const
Return size needed for memory buffer in traceExecution.
T traceExecution(const Values &values, internal::ExecutionTrace< T > &trace, char *traceStorage) const
trace execution, very unsafe
virtual ~Expression()
Destructor.
The matrix class, also used for vectors and row-vectors.
unsigned __int64 uint64_t
T valueAndJacobianMap(const Values &values, internal::JacobianMap &jacobians) const
brief Return value and derivatives, reverse AD version
std::function< T(const A1 &, const A2 &, typename MakeOptionalJacobian< T, A1 >::type, typename MakeOptionalJacobian< T, A2 >::type)> type
GTSAM_CONCEPT_ASSERT(IsVectorSpace< T >)
std::uint64_t Key
Integer nonlinear key type.
Expression< T > type
Define type so we can apply it as a meta-function.
Expression< T > & operator+=(const Expression< T > &e)
Add another expression to this expression.
Expression(const std::shared_ptr< internal::ExpressionNode< T > > &root)
Construct with a custom root.
Expression< T > linearExpression(const std::function< T(A)> &f, const Expression< A > &expression, const Eigen::Matrix< double, traits< T >::dimension, traits< A >::dimension > &dTdA)
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:02:16