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void | calculateJacobian () |
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double | apply (const typename DERIVED::Parameters &p, OptionalJacobian<-1, -1 > H={}) const |
| Regular 1D evaluation. More...
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| EvaluationFunctor () |
| For serialization. More...
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| EvaluationFunctor (size_t N, double x) |
| Constructor with interval [a,b]. More...
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| EvaluationFunctor (size_t N, double x, double a, double b) |
| Constructor with interval [a,b]. More...
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double | operator() (const typename DERIVED::Parameters &p, OptionalJacobian<-1, -1 > H={}) const |
| c++ sugar More...
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void | print (const std::string &s="") const |
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template<typename DERIVED>
class gtsam::Basis< DERIVED >::VectorEvaluationFunctor
VectorEvaluationFunctor 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.
Definition at line 167 of file Basis.h.
template<typename DERIVED >
void gtsam::Basis< DERIVED >::VectorEvaluationFunctor::calculateJacobian |
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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 182 of file Basis.h.