#include <Basis.h>
Inheritance diagram for gtsam::Basis< DERIVED >::ManifoldEvaluationFunctor< T >:
Public Member Functions | |
| T | apply (const Matrix &P, OptionalJacobian< -1, -1 > H={}) const |
| Manifold evaluation. More... | |
| ManifoldEvaluationFunctor () | |
| For serialization. More... | |
| ManifoldEvaluationFunctor (size_t N, double x) | |
| Default Constructor. More... | |
| ManifoldEvaluationFunctor (size_t N, double x, double a, double b) | |
| Constructor, with interval [a,b]. More... | |
| T | operator() (const Matrix &P, OptionalJacobian< -1, -1 > H={}) const |
| c++ sugar More... | |
 Public Member Functions inherited from gtsam::Basis< DERIVED >::VectorEvaluationFunctor | |
| Vector | apply (const Matrix &P, OptionalJacobian< -1, -1 > H={}) const |
| M-dimensional evaluation. More... | |
| Vector | operator() (const Matrix &P, OptionalJacobian< -1, -1 > H={}) const |
| c++ sugar More... | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | VectorEvaluationFunctor () |
| For serialization. More... | |
| VectorEvaluationFunctor (size_t M, size_t N, double x) | |
| Default Constructor. More... | |
| VectorEvaluationFunctor (size_t M, size_t N, double x, double a, double b) | |
| Constructor, with interval [a,b]. More... | |
Private Types | |
| enum | { M = traits<T>::dimension } |
| using | Base = VectorEvaluationFunctor |
Additional Inherited Members | |
| Protected Types inherited from gtsam::Basis< DERIVED >::VectorEvaluationFunctor | |
| using | Jacobian = Eigen::Matrix< double, -1, -1 > |
| Protected Member Functions inherited from gtsam::Basis< DERIVED >::VectorEvaluationFunctor | |
| void | calculateJacobian () |
| Protected Member Functions inherited from gtsam::Basis< DERIVED >::EvaluationFunctor | |
| double | apply (const typename DERIVED::Parameters &p, OptionalJacobian<-1, -1 > H={}) const |
| Regular 1D evaluation. More... | |
| EvaluationFunctor () | |
| For serialization. More... | |
| EvaluationFunctor (size_t N, double x) | |
| Constructor with interval [a,b]. More... | |
| EvaluationFunctor (size_t N, double x, double a, double b) | |
| Constructor with interval [a,b]. More... | |
| double | operator() (const typename DERIVED::Parameters &p, OptionalJacobian<-1, -1 > H={}) const |
| c++ sugar More... | |
| void | print (const std::string &s="") const |
| Protected Attributes inherited from gtsam::Basis< DERIVED >::VectorEvaluationFunctor | |
| Jacobian | H_ |
| size_t | M_ |
| Protected Attributes inherited from gtsam::Basis< DERIVED >::EvaluationFunctor | |
| Weights | weights_ |
Detailed Description
template<typename DERIVED>
template<class T>
class gtsam::Basis< DERIVED >::ManifoldEvaluationFunctor< T >
Manifold EvaluationFunctor at a given x, applied to a parameter Matrix. This functor is used to evaluate a parameterized function at a given scalar value x. When given a specific M*N parameters, returns an M-vector the M corresponding functions at x, possibly with Jacobians wrpt the parameters.
The difference with the VectorEvaluationFunctor is that after computing the M*1 vector xi=F(x;P), with x a scalar and P the M*N parameter vector, we also retract xi back to the T manifold. For example, if T==Rot3, then we first compute a 3-vector xi using x and P, and then map that 3-vector xi back to the Rot3 manifold, yielding a valid 3D rotation.
Member Typedef Documentation
◆ Base
template<typename DERIVED>
template<class T >
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private |
Member Enumeration Documentation
◆ anonymous enum
template<typename DERIVED>
template<class T >
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private |
Constructor & Destructor Documentation
◆ ManifoldEvaluationFunctor() [1/3]
template<typename DERIVED>
template<class T >
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inline |
◆ ManifoldEvaluationFunctor() [2/3]
template<typename DERIVED>
template<class T >
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inline |
◆ ManifoldEvaluationFunctor() [3/3]
template<typename DERIVED>
template<class T >
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inline |
Member Function Documentation
◆ apply()
template<typename DERIVED>
template<class T >
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inline |
◆ operator()()
template<typename DERIVED>
template<class T >
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inline |
The documentation for this class was generated from the following file: