gtsam::Basis< DERIVED >::ComponentDerivativeFunctor Class Reference

#include <Basis.h>

Inheritance diagram for gtsam::Basis< DERIVED >::ComponentDerivativeFunctor:

Public Member Functions
double	apply (const Matrix &P, OptionalJacobian< -1, -1 > H={}) const
	Calculate derivative of component rowIndex_ of F. More...
	ComponentDerivativeFunctor ()
	For serialization. More...
	ComponentDerivativeFunctor (size_t M, size_t N, size_t i, double x)
	Construct with row index. More...
	ComponentDerivativeFunctor (size_t M, size_t N, size_t i, double x, double a, double b)
	Construct with row index and interval. More...
double	operator() (const Matrix &P, OptionalJacobian< -1, -1 > H={}) const
	c++ sugar More...

Protected Types
using	Jacobian = Eigen::Matrix< double, 1, -1 >

Protected Member Functions
void	calculateJacobian (size_t N)
Protected Member Functions inherited from gtsam::Basis< DERIVED >::DerivativeFunctorBase
	DerivativeFunctorBase ()
	For serialization. More...
	DerivativeFunctorBase (size_t N, double x)
	DerivativeFunctorBase (size_t N, double x, double a, double b)
void	print (const std::string &s="") const

Protected Attributes
Jacobian	H_
size_t	M_
size_t	rowIndex_
Protected Attributes inherited from gtsam::Basis< DERIVED >::DerivativeFunctorBase
Weights	weights_

Detailed Description

template<typename DERIVED>
class gtsam::Basis< DERIVED >::ComponentDerivativeFunctor

Given a M*N Matrix of M-vectors at N polynomial points, an instance of ComponentDerivativeFunctor computes the N-vector derivative for a specific row component of the M-vectors at all the polynomial points.

This component is specified by the row index i, with 0<i<M.

Definition at line 446 of file Basis.h.

Member Typedef Documentation

Jacobian

template<typename DERIVED>

using gtsam::Basis< DERIVED >::ComponentDerivativeFunctor::Jacobian = Eigen::Matrix<double, 1, -1>

protected

Definition at line 448 of file Basis.h.

Constructor & Destructor Documentation

ComponentDerivativeFunctor() [1/3]

template<typename DERIVED>

gtsam::Basis< DERIVED >::ComponentDerivativeFunctor::ComponentDerivativeFunctor ( )

inline

For serialization.

Definition at line 471 of file Basis.h.

ComponentDerivativeFunctor() [2/3]

template<typename DERIVED>

gtsam::Basis< DERIVED >::ComponentDerivativeFunctor::ComponentDerivativeFunctor ( size_t  M, size_t  N, size_t  i, double  x  )

inline

Construct with row index.

Definition at line 474 of file Basis.h.

ComponentDerivativeFunctor() [3/3]

template<typename DERIVED>

gtsam::Basis< DERIVED >::ComponentDerivativeFunctor::ComponentDerivativeFunctor ( size_t  M, size_t  N, size_t  i, double  x, double  a, double  b  )

inline

Construct with row index and interval.

Definition at line 480 of file Basis.h.

Member Function Documentation

apply()

template<typename DERIVED>

double gtsam::Basis< DERIVED >::ComponentDerivativeFunctor::apply ( const Matrix &  P, OptionalJacobian< -1, -1 >  H = {}  ) const

inline

Calculate derivative of component rowIndex_ of F.

Definition at line 486 of file Basis.h.

calculateJacobian()

template<typename DERIVED>

void gtsam::Basis< DERIVED >::ComponentDerivativeFunctor::calculateJacobian ( size_t  N )

inlineprotected

Definition at line 463 of file Basis.h.

operator()()

template<typename DERIVED>

double gtsam::Basis< DERIVED >::ComponentDerivativeFunctor::operator() ( const Matrix &  P, OptionalJacobian< -1, -1 >  H = {}  ) const

inline

c++ sugar

Definition at line 492 of file Basis.h.

Member Data Documentation

H_

template<typename DERIVED>

Jacobian gtsam::Basis< DERIVED >::ComponentDerivativeFunctor::H_

protected

Definition at line 449 of file Basis.h.

M_

template<typename DERIVED>

size_t gtsam::Basis< DERIVED >::ComponentDerivativeFunctor::M_

protected

Definition at line 451 of file Basis.h.

rowIndex_

template<typename DERIVED>

size_t gtsam::Basis< DERIVED >::ComponentDerivativeFunctor::rowIndex_

protected

Definition at line 452 of file Basis.h.

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The documentation for this class was generated from the following file:

• Basis.h