gtsam::MultiplyWithInverseFunction< T, N > Struct Template Reference

#include <Matrix.h>

Public Types
typedef Eigen::Matrix< double, N, N >	MatrixN
typedef std::function< VectorN(const T &, const VectorN &, OptionalJacobian< N, M >, OptionalJacobian< N, N >)>	Operator
typedef Eigen::Matrix< double, N, 1 >	VectorN

Public Member Functions
	MultiplyWithInverseFunction (const Operator &phi)
	Construct with function as explained above. More...
VectorN	operator() (const T &a, const VectorN &b, OptionalJacobian< N, M > H1={}, OptionalJacobian< N, N > H2={}) const
	f(a).inverse() * b, with optional derivatives More...

Static Public Attributes
constexpr static auto	M = traits<T>::dimension

Private Attributes
const Operator	phi_

Detailed Description

template<typename T, int N>
struct gtsam::MultiplyWithInverseFunction< T, N >

Functor that implements multiplication with the inverse of a matrix, itself the result of a function f. It turn out we only need the derivatives of the operator phi(a): b -> f(a) * b

Definition at line 462 of file base/Matrix.h.

Member Typedef Documentation

MatrixN

template<typename T , int N>

typedef Eigen::Matrix<double, N, N> gtsam::MultiplyWithInverseFunction< T, N >::MatrixN

Definition at line 465 of file base/Matrix.h.

Operator

template<typename T , int N>

typedef std::function<VectorN( const T&, const VectorN&, OptionalJacobian<N, M>, OptionalJacobian<N, N>)> gtsam::MultiplyWithInverseFunction< T, N >::Operator

Definition at line 471 of file base/Matrix.h.

VectorN

template<typename T , int N>

typedef Eigen::Matrix<double, N, 1> gtsam::MultiplyWithInverseFunction< T, N >::VectorN

Definition at line 464 of file base/Matrix.h.

Constructor & Destructor Documentation

MultiplyWithInverseFunction()

template<typename T , int N>

gtsam::MultiplyWithInverseFunction< T, N >::MultiplyWithInverseFunction ( const Operator &  phi )

inline

Construct with function as explained above.

Definition at line 474 of file base/Matrix.h.

Member Function Documentation

operator()()

template<typename T , int N>

VectorN gtsam::MultiplyWithInverseFunction< T, N >::operator() ( const T &  a, const VectorN &  b, OptionalJacobian< N, M >  H1 = {}, OptionalJacobian< N, N >  H2 = {}  ) const

inline

f(a).inverse() * b, with optional derivatives

Definition at line 477 of file base/Matrix.h.

Member Data Documentation

M

template<typename T , int N>

constexpr static auto gtsam::MultiplyWithInverseFunction< T, N >::M = traits<T>::dimension

inlinestaticconstexpr

Definition at line 463 of file base/Matrix.h.

phi_

template<typename T , int N>

const Operator gtsam::MultiplyWithInverseFunction< T, N >::phi_

private

Definition at line 495 of file base/Matrix.h.

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

• base/Matrix.h