#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_t > | indices_ |
KeyVector | keys_ |
Friends | |
class | Marginals |
A class to store and access a joint marginal, returned from Marginals::jointMarginalCovariance and Marginals::jointMarginalInformation
Definition at line 137 of file Marginals.h.
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inline |
Default constructor only for wrappers.
Definition at line 146 of file Marginals.h.
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inlineprotected |
Definition at line 181 of file Marginals.h.
Synonym for operator()
Definition at line 168 of file Marginals.h.
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inline |
The full, dense covariance/information matrix of the joint marginal.
Definition at line 173 of file Marginals.h.
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.
iVariable | The nonlinear Key specifying the "vertical position" of the requested block |
jVariable | The nonlinear Key specifying the "horizontal position" of the requested block |
Definition at line 161 of file Marginals.h.
void gtsam::JointMarginal::print | ( | const std::string & | s = "" , |
const KeyFormatter & | formatter = DefaultKeyFormatter |
||
) | const |
Definition at line 197 of file Marginals.cpp.
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friend |
Definition at line 184 of file Marginals.h.
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protected |
Definition at line 140 of file Marginals.h.
Definition at line 142 of file Marginals.h.
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protected |
Definition at line 141 of file Marginals.h.