Public Member Functions | Protected Member Functions | Protected Attributes | Friends | List of all members
gtsam::JointMarginal Class Reference

#include <Marginals.h>

Public Member Functions

Matrix at (Key iVariable, Key jVariable) const
 
Matrix fullMatrix () const
 
 JointMarginal ()
 Default constructor only for wrappers. More...
 
Matrix operator() (Key iVariable, Key jVariable) const
 
void print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const
 

Protected Member Functions

 JointMarginal (const Matrix &fullMatrix, const std::vector< size_t > &dims, const KeyVector &keys)
 

Protected Attributes

SymmetricBlockMatrix blockMatrix_
 
FastMap< Key, size_tindices_
 
KeyVector keys_
 

Friends

class Marginals
 

Detailed Description

A class to store and access a joint marginal, returned from Marginals::jointMarginalCovariance and Marginals::jointMarginalInformation

Definition at line 137 of file Marginals.h.

Constructor & Destructor Documentation

◆ JointMarginal() [1/2]

gtsam::JointMarginal::JointMarginal ( )
inline

Default constructor only for wrappers.

Definition at line 146 of file Marginals.h.

◆ JointMarginal() [2/2]

gtsam::JointMarginal::JointMarginal ( const Matrix fullMatrix,
const std::vector< size_t > &  dims,
const KeyVector keys 
)
inlineprotected

Definition at line 181 of file Marginals.h.

Member Function Documentation

◆ at()

Matrix gtsam::JointMarginal::at ( Key  iVariable,
Key  jVariable 
) const
inline

Synonym for operator()

Definition at line 168 of file Marginals.h.

◆ fullMatrix()

Matrix gtsam::JointMarginal::fullMatrix ( ) const
inline

The full, dense covariance/information matrix of the joint marginal.

Definition at line 173 of file Marginals.h.

◆ operator()()

Matrix gtsam::JointMarginal::operator() ( Key  iVariable,
Key  jVariable 
) const
inline

Access a block, corresponding to a pair of variables, of the joint marginal. Each block is accessed by its "vertical position", corresponding to the variable with nonlinear Key iVariable and "horizontal position", corresponding to the variable with nonlinear Key jVariable.

For example, if we have the joint marginal on a 2D pose "x3" and a 2D landmark "l2", then jointMarginal(Symbol('x',3), Symbol('l',2)) will return the 3x2 block of the joint covariance matrix corresponding to x3 and l2.

Parameters
iVariableThe nonlinear Key specifying the "vertical position" of the requested block
jVariableThe nonlinear Key specifying the "horizontal position" of the requested block

Definition at line 161 of file Marginals.h.

◆ print()

void gtsam::JointMarginal::print ( const std::string &  s = "",
const KeyFormatter formatter = DefaultKeyFormatter 
) const

Print

Definition at line 197 of file Marginals.cpp.

Friends And Related Function Documentation

◆ Marginals

friend class Marginals
friend

Definition at line 184 of file Marginals.h.

Member Data Documentation

◆ blockMatrix_

SymmetricBlockMatrix gtsam::JointMarginal::blockMatrix_
protected

Definition at line 140 of file Marginals.h.

◆ indices_

FastMap<Key, size_t> gtsam::JointMarginal::indices_
protected

Definition at line 142 of file Marginals.h.

◆ keys_

KeyVector gtsam::JointMarginal::keys_
protected

Definition at line 141 of file Marginals.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:22