#include <Matrix.h>
Public Types | |
typedef Eigen::Matrix< double, N, N > | MatrixN |
typedef Eigen::Matrix< double, N, 1 > | VectorN |
Public Member Functions | |
VectorN | operator() (const MatrixN &A, const VectorN &b, OptionalJacobian< N, N *N > H1={}, OptionalJacobian< N, N > H2={}) const |
A.inverse() * b, with optional derivatives. More... | |
Functor that implements multiplication of a vector b with the inverse of a matrix A. The derivatives are inspired by Mike Giles' "An extended collection of matrix derivative results for forward and reverse mode algorithmic differentiation", at https://people.maths.ox.ac.uk/gilesm/files/NA-08-01.pdf
Definition at line 455 of file base/Matrix.h.
typedef Eigen::Matrix<double, N, N> gtsam::MultiplyWithInverse< N >::MatrixN |
Definition at line 457 of file base/Matrix.h.
typedef Eigen::Matrix<double, N, 1> gtsam::MultiplyWithInverse< N >::VectorN |
Definition at line 456 of file base/Matrix.h.
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inline |
A.inverse() * b, with optional derivatives.
Definition at line 460 of file base/Matrix.h.