gtsam::Basis< DERIVED >::VectorEvaluationFunctor Class Reference

#include <Basis.h>

Inheritance diagram for gtsam::Basis< DERIVED >::VectorEvaluationFunctor:

Public Member Functions
Vector	apply (const Matrix &P, OptionalJacobian< -1, -1 > H={}) const
	M-dimensional evaluation. More...
Vector	operator() (const Matrix &P, OptionalJacobian< -1, -1 > H={}) const
	c++ sugar More...
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	VectorEvaluationFunctor ()
	For serialization. More...
	VectorEvaluationFunctor (size_t M, size_t N, double x)
	Default Constructor. More...
	VectorEvaluationFunctor (size_t M, size_t N, double x, double a, double b)
	Constructor, with interval [a,b]. More...

Protected Types
using	Jacobian = Eigen::Matrix< double, -1, -1 >

Protected Member Functions
void	calculateJacobian ()
Protected Member Functions inherited from gtsam::Basis< DERIVED >::EvaluationFunctor
double	apply (const typename DERIVED::Parameters &p, OptionalJacobian<-1, -1 > H={}) const
	Regular 1D evaluation. More...
	EvaluationFunctor ()
	For serialization. More...
	EvaluationFunctor (size_t N, double x)
	Constructor with interval [a,b]. More...
	EvaluationFunctor (size_t N, double x, double a, double b)
	Constructor with interval [a,b]. More...
double	operator() (const typename DERIVED::Parameters &p, OptionalJacobian<-1, -1 > H={}) const
	c++ sugar More...
void	print (const std::string &s="") const

Protected Attributes
Jacobian	H_
size_t	M_
Protected Attributes inherited from gtsam::Basis< DERIVED >::EvaluationFunctor
Weights	weights_

Detailed Description

template<typename DERIVED>
class gtsam::Basis< DERIVED >::VectorEvaluationFunctor

VectorEvaluationFunctor at a given x, applied to a parameter Matrix. This functor is used to evaluate a parameterized function at a given scalar value x. When given a specific M*N parameters, returns an M-vector the M corresponding functions at x, possibly with Jacobians wrpt the parameters.

Definition at line 167 of file Basis.h.

Member Typedef Documentation

Jacobian

template<typename DERIVED >

using gtsam::Basis< DERIVED >::VectorEvaluationFunctor::Jacobian = Eigen::Matrix<double, -1, -1>

protected

Definition at line 169 of file Basis.h.

Constructor & Destructor Documentation

VectorEvaluationFunctor() [1/3]

template<typename DERIVED >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW gtsam::Basis< DERIVED >::VectorEvaluationFunctor::VectorEvaluationFunctor ( )

inline

For serialization.

Definition at line 190 of file Basis.h.

VectorEvaluationFunctor() [2/3]

template<typename DERIVED >

gtsam::Basis< DERIVED >::VectorEvaluationFunctor::VectorEvaluationFunctor ( size_t  M, size_t  N, double  x  )

inline

Default Constructor.

Definition at line 193 of file Basis.h.

VectorEvaluationFunctor() [3/3]

template<typename DERIVED >

gtsam::Basis< DERIVED >::VectorEvaluationFunctor::VectorEvaluationFunctor ( size_t  M, size_t  N, double  x, double  a, double  b  )

inline

Constructor, with interval [a,b].

Definition at line 199 of file Basis.h.

Member Function Documentation

apply()

template<typename DERIVED >

Vector gtsam::Basis< DERIVED >::VectorEvaluationFunctor::apply ( const Matrix &  P, OptionalJacobian< -1, -1 >  H = {}  ) const

inline

M-dimensional evaluation.

Definition at line 205 of file Basis.h.

calculateJacobian()

template<typename DERIVED >

void gtsam::Basis< DERIVED >::VectorEvaluationFunctor::calculateJacobian ( )

inlineprotected

Calculate the M*(M*N) Jacobian of this functor with respect to the M*N parameter matrix P. We flatten assuming column-major order, e.g., if N=3 and M=2, we have H =[ w(0) 0 w(1) 0 w(2) 0 0 w(0) 0 w(1) 0 w(2) ] i.e., the Kronecker product of weights_ with the MxM identity matrix.

Definition at line 182 of file Basis.h.

operator()()

template<typename DERIVED >

Vector gtsam::Basis< DERIVED >::VectorEvaluationFunctor::operator() ( const Matrix &  P, OptionalJacobian< -1, -1 >  H = {}  ) const

inline

c++ sugar

Definition at line 212 of file Basis.h.

Member Data Documentation

H_

template<typename DERIVED >

Jacobian gtsam::Basis< DERIVED >::VectorEvaluationFunctor::H_

protected

Definition at line 170 of file Basis.h.

M_

template<typename DERIVED >

size_t gtsam::Basis< DERIVED >::VectorEvaluationFunctor::M_

protected

Definition at line 172 of file Basis.h.

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

• Basis.h