Public Types | Public Member Functions | List of all members
gtsam::MultiplyWithInverse< N > Struct Template Reference

#include <Matrix.h>

Public Types

typedef Eigen::Matrix< double, N, NMatrixN
 
typedef Eigen::Matrix< double, N, 1 > VectorN
 

Public Member Functions

VectorN operator() (const MatrixN &A, const VectorN &b, OptionalJacobian< N, N *N > H1={}, OptionalJacobian< N, N > H2={}) const
 A.inverse() * b, with optional derivatives. More...
 

Detailed Description

template<int N>
struct gtsam::MultiplyWithInverse< N >

Functor that implements multiplication of a vector b with the inverse of a matrix A. The derivatives are inspired by Mike Giles' "An extended collection of matrix derivative results for forward and reverse mode algorithmic differentiation", at https://people.maths.ox.ac.uk/gilesm/files/NA-08-01.pdf

Definition at line 455 of file base/Matrix.h.

Member Typedef Documentation

◆ MatrixN

template<int N>
typedef Eigen::Matrix<double, N, N> gtsam::MultiplyWithInverse< N >::MatrixN

Definition at line 457 of file base/Matrix.h.

◆ VectorN

template<int N>
typedef Eigen::Matrix<double, N, 1> gtsam::MultiplyWithInverse< N >::VectorN

Definition at line 456 of file base/Matrix.h.

Member Function Documentation

◆ operator()()

template<int N>
VectorN gtsam::MultiplyWithInverse< N >::operator() ( const MatrixN A,
const VectorN b,
OptionalJacobian< N, N *N H1 = {},
OptionalJacobian< N, N H2 = {} 
) const
inline

A.inverse() * b, with optional derivatives.

Definition at line 460 of file base/Matrix.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:23