gtsam::JointMarginal Class Reference

#include <Marginals.h>

Public Member Functions
Matrix	at (Key iVariable, Key jVariable) const
Matrix	fullMatrix () const
	JointMarginal ()
	Default constructor only for wrappers. More...
Matrix	operator() (Key iVariable, Key jVariable) const
void	print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const

Protected Member Functions
	JointMarginal (const Matrix &fullMatrix, const std::vector< size_t > &dims, const KeyVector &keys)

Protected Attributes
SymmetricBlockMatrix	blockMatrix_
FastMap< Key, size_t >	indices_
KeyVector	keys_

Friends
class	Marginals

Detailed Description

A class to store and access a joint marginal, returned from Marginals::jointMarginalCovariance and Marginals::jointMarginalInformation

Definition at line 137 of file Marginals.h.

Constructor & Destructor Documentation

JointMarginal() [1/2]

gtsam::JointMarginal::JointMarginal ( )

inline

Default constructor only for wrappers.

Definition at line 146 of file Marginals.h.

JointMarginal() [2/2]

gtsam::JointMarginal::JointMarginal ( const Matrix &  fullMatrix, const std::vector< size_t > &  dims, const KeyVector &  keys  )

inlineprotected

Definition at line 181 of file Marginals.h.

Member Function Documentation

at()

Matrix gtsam::JointMarginal::at ( Key  iVariable, Key  jVariable  ) const

inline

Synonym for operator()

Definition at line 168 of file Marginals.h.

fullMatrix()

Matrix gtsam::JointMarginal::fullMatrix ( ) const

inline

The full, dense covariance/information matrix of the joint marginal.

Definition at line 173 of file Marginals.h.

operator()()

Matrix gtsam::JointMarginal::operator() ( Key  iVariable, Key  jVariable  ) const

inline

Access a block, corresponding to a pair of variables, of the joint marginal. Each block is accessed by its "vertical position", corresponding to the variable with nonlinear Key iVariable and "horizontal position", corresponding to the variable with nonlinear Key jVariable.

For example, if we have the joint marginal on a 2D pose "x3" and a 2D landmark "l2", then jointMarginal(Symbol('x',3), Symbol('l',2)) will return the 3x2 block of the joint covariance matrix corresponding to x3 and l2.

Parameters

iVariable	The nonlinear Key specifying the "vertical position" of the requested block
jVariable	The nonlinear Key specifying the "horizontal position" of the requested block

Definition at line 161 of file Marginals.h.

print()

void gtsam::JointMarginal::print	(	const std::string &	s = "",
		const KeyFormatter &	formatter = DefaultKeyFormatter
	)		const

Print

Definition at line 197 of file Marginals.cpp.

Friends And Related Function Documentation

Marginals

friend class Marginals

friend

Definition at line 184 of file Marginals.h.

Member Data Documentation

blockMatrix_

SymmetricBlockMatrix gtsam::JointMarginal::blockMatrix_

protected

Definition at line 140 of file Marginals.h.

indices_

FastMap<Key, size_t> gtsam::JointMarginal::indices_

protected

Definition at line 142 of file Marginals.h.

keys_

KeyVector gtsam::JointMarginal::keys_

protected

Definition at line 141 of file Marginals.h.

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

• Marginals.h
• Marginals.cpp