gtsam::MultiplyWithInverse< N > Struct Template Reference

#include <Matrix.h>

Public Types
typedef Eigen::Matrix< double, N, N >	MatrixN
typedef Eigen::Matrix< double, N, 1 >	VectorN

Public Member Functions
VectorN	operator() (const MatrixN &A, const VectorN &b, OptionalJacobian< N, N *N > H1=boost::none, OptionalJacobian< N, N > H2=boost::none) const
	A.inverse() * b, with optional derivatives. More...

Detailed Description

template<int N>
struct gtsam::MultiplyWithInverse< N >

Functor that implements multiplication of a vector b with the inverse of a matrix A. The derivatives are inspired by Mike Giles' "An extended collection of matrix derivative results for forward and reverse mode algorithmic differentiation", at https://people.maths.ox.ac.uk/gilesm/files/NA-08-01.pdf

Definition at line 459 of file base/Matrix.h.

Member Typedef Documentation

template<int N>

typedef Eigen::Matrix<double, N, N> gtsam::MultiplyWithInverse< N >::MatrixN

Definition at line 461 of file base/Matrix.h.

template<int N>

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

Definition at line 460 of file base/Matrix.h.

Member Function Documentation

template<int N>

VectorN gtsam::MultiplyWithInverse< N >::operator() ( const MatrixN &  A, const VectorN &  b, OptionalJacobian< N, N *N >  H1 = boost::none, OptionalJacobian< N, N >  H2 = boost::none  ) const

inline

A.inverse() * b, with optional derivatives.

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

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

• base/Matrix.h