covariance.h File Reference

Recovery of marginal covariance matrix. More...

#include <vector>
#include <utility>
#include <list>
#include <Eigen/Dense>
#include <tr1/unordered_map>
#include "SparseMatrix.h"

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Classes
class	isam::CovarianceCache
Namespaces
namespace	isam
Defines
#define	USE_TR1
Typedefs
typedef std::vector< std::pair < int, int > >	isam::entry_list_t
typedef std::vector < std::vector< int > >	isam::index_lists_t
typedef std::tr1::unordered_map< int, double >	isam::umap
Functions
std::list< Eigen::MatrixXd >	isam::cov_marginal (const SparseMatrix &R, CovarianceCache &cache, const index_lists_t &index_lists, bool debug=false, int step=-1)
std::list< double >	isam::cov_marginal (const SparseMatrix &R, CovarianceCache &cache, const entry_list_t &entry_list)

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Detailed Description

Recovery of marginal covariance matrix.

Author:

Michael Kaess

Nicholas Carlevaris-Bianco

Version:

Id:

covariance.h 8578 2013-07-01 00:28:49Z kaess

Copyright (C) 2009-2013 Massachusetts Institute of Technology. Michael Kaess, Hordur Johannsson, David Rosen, Nicholas Carlevaris-Bianco and John. J. Leonard

This file is part of iSAM.

iSAM is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version.

iSAM is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with iSAM. If not, see <http://www.gnu.org/licenses/>.

Definition in file covariance.h.

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Define Documentation

#define USE_TR1

Definition at line 36 of file covariance.h.