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covariance.cpp File Reference

Recovery of marginal covariance matrix, for details see Kaess09ras. More...

#include <vector>
#include <utility>
#include "isam/covariance.h"
#include "isam/util.h"
Include dependency graph for covariance.cpp:

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Namespaces

namespace  isam

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)
const SparseVector & isam::get_row (const SparseMatrix &R, CovarianceCache &cache, int i)
void isam::prepare (const SparseMatrix &R, CovarianceCache &cache)
double isam::recover (const SparseMatrix &R, CovarianceCache &cache, int n, int i, int l)
double isam::sum_j (const SparseMatrix &R, CovarianceCache &cache, int n, int l, int i)

Detailed Description

Recovery of marginal covariance matrix, for details see Kaess09ras.

Author:
Michael Kaess
Nicholas Carlevaris-Bianco
Version:
Id:
covariance.cpp 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.cpp.



demo_rgbd
Author(s): Ji Zhang
autogenerated on Sun Oct 5 2014 23:25:12