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

#include <Basis.h>

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

Public Member Functions
Vector	apply (const Matrix &P, OptionalJacobian< -1, -1 > H={}) const
Vector	operator() (const Matrix &P, OptionalJacobian< -1, -1 > H={}) const
	c++ sugar More...
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	VectorDerivativeFunctor ()
	For serialization. More...
	VectorDerivativeFunctor (size_t M, size_t N, double x)
	Default Constructor. More...
	VectorDerivativeFunctor (size_t M, size_t N, double x, double a, double b)
	Constructor, with optional interval [a,b]. More...

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

Protected Member Functions
void	calculateJacobian ()
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_
Protected Attributes inherited from gtsam::Basis< DERIVED >::DerivativeFunctorBase
Weights	weights_

Detailed Description

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

VectorDerivativeFunctor at a given x, applied to a parameter Matrix.

This functor is used to evaluate the derivatives of a parameterized function at a given scalar value x. When given a specific M*N parameters, returns an M-vector the M corresponding function derivatives at x, possibly with Jacobians wrpt the parameters.

Definition at line 390 of file Basis.h.

Member Typedef Documentation

Jacobian

template<typename DERIVED>

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

protected

Definition at line 392 of file Basis.h.

Constructor & Destructor Documentation

VectorDerivativeFunctor() [1/3]

template<typename DERIVED>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW gtsam::Basis< DERIVED >::VectorDerivativeFunctor::VectorDerivativeFunctor ( )

inline

For serialization.

Definition at line 413 of file Basis.h.

VectorDerivativeFunctor() [2/3]

template<typename DERIVED>

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

inline

Default Constructor.

Definition at line 416 of file Basis.h.

VectorDerivativeFunctor() [3/3]

template<typename DERIVED>

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

inline

Constructor, with optional interval [a,b].

Definition at line 422 of file Basis.h.

Member Function Documentation

apply()

template<typename DERIVED>

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

inline

Definition at line 427 of file Basis.h.

calculateJacobian()

template<typename DERIVED>

void gtsam::Basis< DERIVED >::VectorDerivativeFunctor::calculateJacobian ( )

inlineprotected

Calculate the M*(M*N) Jacobian of this functor with respect to the M*N parameter matrix P. We flatten assuming column-major order, e.g., if N=3 and M=2, we have H =[ w(0) 0 w(1) 0 w(2) 0 0 w(0) 0 w(1) 0 w(2) ] i.e., the Kronecker product of weights_ with the MxM identity matrix.

Definition at line 405 of file Basis.h.

operator()()

template<typename DERIVED>

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

inline

c++ sugar

Definition at line 433 of file Basis.h.

Member Data Documentation

H_

template<typename DERIVED>

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

protected

Definition at line 393 of file Basis.h.

M_

template<typename DERIVED>

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

protected

Definition at line 395 of file Basis.h.

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

• Basis.h