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12 #ifndef EIGEN_LMCOVAR_H
13 #define EIGEN_LMCOVAR_H
19 template <
typename Scalar>
39 for (k = 0; k <
n; ++k)
40 if (
abs(r(k,k)) > tolr) {
42 for (
j = 0;
j <= k-1; ++
j) {
43 temp = r(k,k) * r(
j,k);
45 r.col(k).head(
j+1) -= r.col(
j).head(
j+1) * temp;
52 for (k = 0; k <=
l; ++k) {
53 for (
j = 0;
j <= k-1; ++
j)
54 r.col(
j).head(
j+1) += r.col(k).head(
j+1) * r(
j,k);
55 r.col(k).head(k+1) *= r(k,k);
60 for (
j = 0;
j <
n; ++
j) {
63 for (
i = 0;
i <=
j; ++
i) {
76 r.topLeftCorner(
n,
n).template triangularView<StrictlyUpper>() = r.topLeftCorner(
n,
n).transpose();
84 #endif // EIGEN_LMCOVAR_H
Namespace containing all symbols from the Eigen library.
static const Line3 l(Rot3(), 1, 1)
void covar(Matrix< Scalar, Dynamic, Dynamic > &r, const VectorXi &ipvt, Scalar tol=std::sqrt(NumTraits< Scalar >::epsilon()))
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT
Holds information about the various numeric (i.e. scalar) types allowed by Eigen.
Jet< T, N > sqrt(const Jet< T, N > &f)
EIGEN_DEFAULT_DENSE_INDEX_TYPE Index
The Index type as used for the API.
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:33:07