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8 #ifndef SWITCHVARIABLESIGMOID_H_
9 #define SWITCHVARIABLESIGMOID_H_
29 if (
d_ < -10.0)
d_=-10.0;
30 else if(
d_>10.0)
d_=10.0;
37 inline void print(
const std::string&
name=
"")
const {
38 std::cout <<
name <<
": " <<
d_ << std::endl;
49 inline size_t dim()
const {
return 1; }
50 inline static size_t Dim() {
return 1; }
57 else if (
x<-10.0)
x=-10.0;
79 #
if GTSAM_VERSION_NUMERIC >= 40300
83 boost::optional<gtsam::Matrix&> H1=boost::none,
84 boost::optional<gtsam::Matrix&> H2=boost::none)
const {
86 if(H1) *H1 = -gtsam::Matrix::Identity(1, 1);
87 if(H2) *H2 = gtsam::Matrix::Identity(1, 1);
112 template<
typename T>
struct traits;
125 #
if GTSAM_VERSION_NUMERIC >= 40300
128 ChartJacobian Horigin = boost::none, ChartJacobian Hother = boost::none) {
130 return origin.localCoordinates(other);
133 #
if GTSAM_VERSION_NUMERIC >= 40300
136 ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {
const Symbol key1( 'v', 1)
void print(const std::string &name="") const
SwitchVariableSigmoid retract(const gtsam::Vector &v) const
bool equals(const SwitchVariableSigmoid &expected, double tol=1e-5) const
Eigen::Matrix< double, 1, 1 > Vector1
gtsam::Vector localCoordinates(const SwitchVariableSigmoid &t2) const
const set< Key > expected
SwitchVariableSigmoid compose(const SwitchVariableSigmoid &p) const
SwitchVariableSigmoid(double d)
static vertigo::SwitchVariableSigmoid Retract(const vertigo::SwitchVariableSigmoid &g, const TangentVector &v, ChartJacobian H1=boost::none, ChartJacobian H2=boost::none)
SwitchVariableSigmoid between(const SwitchVariableSigmoid &l2, boost::optional< gtsam::Matrix & > H1=boost::none, boost::optional< gtsam::Matrix & > H2=boost::none) const
static gtsam::Vector Logmap(const SwitchVariableSigmoid &p)
static SwitchVariableSigmoid Expmap(const gtsam::Vector &v)
static TangentVector Local(const vertigo::SwitchVariableSigmoid &origin, const vertigo::SwitchVariableSigmoid &other, ChartJacobian Horigin=boost::none, ChartJacobian Hother=boost::none)
static bool Equals(const vertigo::SwitchVariableSigmoid &key1, const vertigo::SwitchVariableSigmoid &key2, double tol=1e-8)
const Symbol key2( 'v', 2)
gtsam::Vector TangentVector
SwitchVariableSigmoid inverse() const
static SwitchVariableSigmoid identity()
static void Print(const vertigo::SwitchVariableSigmoid &key, const std::string &str="")
void print(const std::string &s="") const
const gtsam::Symbol key( 'X', 0)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy y set format x g set format y g set format x2 g set format y2 g set format z g set angles radians set nogrid set key title set key left top Right noreverse box linetype linewidth samplen spacing width set nolabel set noarrow set nologscale set logscale x set set pointsize set encoding default set nopolar set noparametric set set set set surface set nocontour set clabel set mapping cartesian set nohidden3d set cntrparam order set cntrparam linear set cntrparam levels auto set cntrparam points set size set origin
OptionalJacobian< 3, 3 > ChartJacobian
Array< int, Dynamic, 1 > v
static int GetDimension(const vertigo::SwitchVariableSigmoid &key)
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:22