#include <OptionalJacobian.h>

Public Types
typedef Eigen::Matrix< double, Rows, Cols >	Jacobian

Public Member Functions
template<int N>
OptionalJacobian< Rows, N >	cols (int startCol)

	operator bool () const
	Return true if allocated, false if default constructor was used. More...

Eigen::Map< Jacobian > &	operator* ()
	De-reference, like boost optional. More...

Eigen::Map< Jacobian > *	operator-> ()
	operator->() More...

	OptionalJacobian ()
	Default constructor. More...

	OptionalJacobian (const std::optional< std::reference_wrapper< Eigen::MatrixXd >> optional)
	Constructor compatible with old-style derivatives. More...

	OptionalJacobian (Eigen::MatrixXd &dynamic)
	Constructor that will resize a dynamic matrix (unless already correct) More...

	OptionalJacobian (Eigen::MatrixXd *dynamic)
	Constructor that will resize a dynamic matrix (unless already correct) More...

template<class MATRIX >
	OptionalJacobian (Eigen::Ref< MATRIX > dynamic_ref)
	Constructor from an Eigen::Ref value. Will not usurp if dimension is wrong. More...

	OptionalJacobian (Jacobian &fixed)
	Constructor that will usurp data of a fixed-size matrix. More...

	OptionalJacobian (Jacobian *fixedPtr)
	Constructor that will usurp data of a fixed-size matrix, pointer version. More...

	OptionalJacobian (std::nullopt_t)
	Constructor with std::nullopt just makes empty. More...

	OptionalJacobian (std::nullptr_t)

Private Member Functions
	OptionalJacobian (double *data)

void	usurp (double *data)
	View on constructor argument, if given. More...

Private Attributes
Eigen::Map< Jacobian >	map_

Friends
template<int M, int N>
class	OptionalJacobian

Detailed Description

template<int Rows, int Cols>
class gtsam::OptionalJacobian< Rows, Cols >

OptionalJacobian is an Eigen::Ref like class that can take be constructed using either a fixed size or dynamic Eigen matrix. In the latter case, the dynamic matrix will be resized. Below this class, a dynamic version is also implemented.

Definition at line 38 of file OptionalJacobian.h.

Member Typedef Documentation

◆ Jacobian

template<int Rows, int Cols>

typedef Eigen::Matrix<double, Rows, Cols> gtsam::OptionalJacobian< Rows, Cols >::Jacobian

Jacobian size type TODO(frank): how to enforce RowMajor? Or better, make it work with any storage order?

Definition at line 44 of file OptionalJacobian.h.

Constructor & Destructor Documentation

◆ OptionalJacobian() [1/10]

template<int Rows, int Cols>

gtsam::OptionalJacobian< Rows, Cols >::OptionalJacobian ( double * data )

inlineprivate

Definition at line 57 of file OptionalJacobian.h.

◆ OptionalJacobian() [2/10]

template<int Rows, int Cols>

gtsam::OptionalJacobian< Rows, Cols >::OptionalJacobian ( )

inline

Default constructor.

Definition at line 67 of file OptionalJacobian.h.

◆ OptionalJacobian() [3/10]

template<int Rows, int Cols>

gtsam::OptionalJacobian< Rows, Cols >::OptionalJacobian ( std::nullptr_t )

inline

Default constructor with nullptr_t To guide the compiler when nullptr is passed to args of the type OptionalJacobian

Definition at line 74 of file OptionalJacobian.h.

◆ OptionalJacobian() [4/10]

template<int Rows, int Cols>

gtsam::OptionalJacobian< Rows, Cols >::OptionalJacobian ( Jacobian & fixed )

inline

Constructor that will usurp data of a fixed-size matrix.

Definition at line 79 of file OptionalJacobian.h.

◆ OptionalJacobian() [5/10]

template<int Rows, int Cols>

gtsam::OptionalJacobian< Rows, Cols >::OptionalJacobian ( Jacobian * fixedPtr )

inline

Constructor that will usurp data of a fixed-size matrix, pointer version.

Definition at line 85 of file OptionalJacobian.h.

◆ OptionalJacobian() [6/10]

template<int Rows, int Cols>

gtsam::OptionalJacobian< Rows, Cols >::OptionalJacobian ( Eigen::MatrixXd & dynamic )

inline

Constructor that will resize a dynamic matrix (unless already correct)

Definition at line 92 of file OptionalJacobian.h.

◆ OptionalJacobian() [7/10]

template<int Rows, int Cols>

gtsam::OptionalJacobian< Rows, Cols >::OptionalJacobian ( Eigen::MatrixXd * dynamic )

inline

Constructor that will resize a dynamic matrix (unless already correct)

Definition at line 99 of file OptionalJacobian.h.

◆ OptionalJacobian() [8/10]

template<int Rows, int Cols>

template<class MATRIX >

gtsam::OptionalJacobian< Rows, Cols >::OptionalJacobian ( Eigen::Ref< MATRIX > dynamic_ref )

inline

Constructor from an Eigen::Ref value. Will not usurp if dimension is wrong.

Note: This is important so we don't overwrite someone else's memory!

Definition at line 112 of file OptionalJacobian.h.

◆ OptionalJacobian() [9/10]

template<int Rows, int Cols>

gtsam::OptionalJacobian< Rows, Cols >::OptionalJacobian ( std::nullopt_t )

inline

Constructor with std::nullopt just makes empty.

Definition at line 126 of file OptionalJacobian.h.

◆ OptionalJacobian() [10/10]

template<int Rows, int Cols>

gtsam::OptionalJacobian< Rows, Cols >::OptionalJacobian ( const std::optional< std::reference_wrapper< Eigen::MatrixXd >> optional )

inline

Constructor compatible with old-style derivatives.

Definition at line 131 of file OptionalJacobian.h.

Member Function Documentation

◆ cols()

template<int Rows, int Cols>

template<int N>

OptionalJacobian<Rows, N> gtsam::OptionalJacobian< Rows, Cols >::cols ( int startCol )

inline

Access M*N sub-block if we are allocated, otherwise none TODO(frank): this could work as is below if only constructor above worked Access Rows*N sub-block if we are allocated, otherwise return an empty OptionalJacobian The use case is functions with arguments that are dissected, e.g. Pose3 into Rot3, Point3 TODO(frank): ideally, we'd like full block functionality, but see note above.

Definition at line 172 of file OptionalJacobian.h.

◆ operator bool()

template<int Rows, int Cols>

gtsam::OptionalJacobian< Rows, Cols >::operator bool ( ) const

inline

Return true if allocated, false if default constructor was used.

Constructor that will usurp data of a block expression TODO(frank): unfortunately using a Map makes usurping non-contiguous memory impossible

Definition at line 144 of file OptionalJacobian.h.

◆ operator*()

template<int Rows, int Cols>

Eigen::Map<Jacobian>& gtsam::OptionalJacobian< Rows, Cols >::operator* ( )

inline

De-reference, like boost optional.

Definition at line 149 of file OptionalJacobian.h.

◆ operator->()

template<int Rows, int Cols>

Eigen::Map<Jacobian>* gtsam::OptionalJacobian< Rows, Cols >::operator-> ( )

inline

operator->()

Definition at line 154 of file OptionalJacobian.h.

◆ usurp()

template<int Rows, int Cols>

void gtsam::OptionalJacobian< Rows, Cols >::usurp ( double * data )

inlineprivate

View on constructor argument, if given.

Definition at line 52 of file OptionalJacobian.h.

Friends And Related Function Documentation

◆ OptionalJacobian

template<int Rows, int Cols>

template<int M, int N>

friend class OptionalJacobian

friend

Definition at line 62 of file OptionalJacobian.h.

Member Data Documentation

◆ map_

template<int Rows, int Cols>

Eigen::Map<Jacobian> gtsam::OptionalJacobian< Rows, Cols >::map_

private

Definition at line 48 of file OptionalJacobian.h.

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

OptionalJacobian.h

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

template<int Rows, int Cols> class gtsam::OptionalJacobian< Rows, Cols >

Member Typedef Documentation

◆ Jacobian

Constructor & Destructor Documentation

◆ OptionalJacobian() [1/10]

◆ OptionalJacobian() [2/10]

◆ OptionalJacobian() [3/10]

◆ OptionalJacobian() [4/10]

◆ OptionalJacobian() [5/10]

◆ OptionalJacobian() [6/10]

◆ OptionalJacobian() [7/10]

◆ OptionalJacobian() [8/10]

◆ OptionalJacobian() [9/10]

◆ OptionalJacobian() [10/10]

Member Function Documentation

◆ cols()

◆ operator bool()

◆ operator*()

◆ operator->()

◆ usurp()

Friends And Related Function Documentation

◆ OptionalJacobian

Member Data Documentation

◆ map_

template<int Rows, int Cols>
class gtsam::OptionalJacobian< Rows, Cols >