Detailed Description

template<int M>
class gtsam::ParameterMatrix< M >

A matrix abstraction of MxN values at the Basis points.

This class serves as a wrapper over an Eigen matrix.

Template Parameters

M	The dimension of the type you wish to evaluate.

Parameters

N	the number of Basis points (e.g. Chebyshev points of the second kind).

Vector Space requirements, following LieMatrix
void	print (const std::string &s="") const
	Print the ParameterMatrix. More...

bool	equals (const ParameterMatrix< M > &other, double tol=1e-8) const
	Check for equality up to absolute tolerance. More...

size_t	dim () const
	Returns dimensionality of the tangent space.

Vector	vector () const
	Convert to vector form, is done row-wise.

static ParameterMatrix	identity ()
	Identity function to satisfy VectorSpace traits. More...

Public Member Functions
	ParameterMatrix (const size_t N)
	Create ParameterMatrix using the number of basis points. More...

	ParameterMatrix (const MatrixType &matrix)
	Create ParameterMatrix from an MxN Eigen Matrix. More...

size_t	rows () const
	Get the number of rows.

size_t	cols () const
	Get the number of columns.

MatrixType	matrix () const
	Get the underlying matrix.

Eigen::Matrix< double, -1, M >	transpose () const
	Return the tranpose of the underlying matrix.

Eigen::Matrix< double, 1, -1 >	row (size_t index) const
	Get the matrix row specified by `index`. More...

auto	row (size_t index) -> Eigen::Block< MatrixType, 1, -1, false >
	Set the matrix row specified by `index`. More...

Eigen::Matrix< double, M, 1 >	col (size_t index) const
	Get the matrix column specified by `index`. More...

auto	col (size_t index) -> Eigen::Block< MatrixType, M, 1, true >
	Set the matrix column specified by `index`. More...

void	setZero ()
	Set all matrix coefficients to zero.

ParameterMatrix< M >	operator+ (const ParameterMatrix< M > &other) const
	Add a ParameterMatrix to another. More...

ParameterMatrix< M >	operator+ (const Eigen::Matrix< double, -1, 1 > &other) const
	Add a MxN-sized vector to the ParameterMatrix. More...

ParameterMatrix< M >	operator- (const ParameterMatrix< M > &other) const
	Subtract a ParameterMatrix from another. More...

ParameterMatrix< M >	operator- (const Eigen::Matrix< double, -1, 1 > &other) const
	Subtract a MxN-sized vector from the ParameterMatrix. More...

MatrixType	operator* (const Eigen::Matrix< double, -1, -1 > &other) const
	Multiply ParameterMatrix with an Eigen matrix. More...

Public Types
enum	{ dimension = Eigen::Dynamic }

Constructor & Destructor Documentation

◆ ParameterMatrix() [1/2]

template<int M>

gtsam::ParameterMatrix< M >::ParameterMatrix ( const size_t N )

inline

Create ParameterMatrix using the number of basis points.

Parameters

N	The number of basis points (the columns).

◆ ParameterMatrix() [2/2]

template<int M>

gtsam::ParameterMatrix< M >::ParameterMatrix ( const MatrixType & matrix )

inline

Create ParameterMatrix from an MxN Eigen Matrix.

Parameters

matrix An Eigen matrix used to initialze the ParameterMatrix.

Member Function Documentation

◆ col() [1/2]

template<int M>

auto gtsam::ParameterMatrix< M >::col ( size_t index ) -> Eigen::Block<MatrixType, M, 1, true>

inline

Set the matrix column specified by index.

Parameters

index The column index to set.

◆ col() [2/2]

template<int M>

Eigen::Matrix< double, M, 1 > gtsam::ParameterMatrix< M >::col ( size_t index ) const

inline

Get the matrix column specified by index.

Parameters

index The column index to retrieve.

◆ equals()

template<int M>

bool gtsam::ParameterMatrix< M >::equals	(	const ParameterMatrix< M > &	other,
		double	tol = `1e-8`
	)		const

inline

Check for equality up to absolute tolerance.

Parameters

other	The ParameterMatrix to check equality with.
tol	The absolute tolerance threshold.

◆ identity()

template<int M>

static ParameterMatrix gtsam::ParameterMatrix< M >::identity ( )

inlinestatic

Identity function to satisfy VectorSpace traits.

NOTE: The size at compile time is unknown so this identity is zero length and thus not valid.

◆ operator*()

template<int M>

MatrixType gtsam::ParameterMatrix< M >::operator* ( const Eigen::Matrix< double, -1, -1 > & other ) const

inline

Multiply ParameterMatrix with an Eigen matrix.

Parameters

other Eigen matrix which should be multiplication compatible with the ParameterMatrix.

◆ operator+() [1/2]

template<int M>

ParameterMatrix< M > gtsam::ParameterMatrix< M >::operator+ ( const Eigen::Matrix< double, -1, 1 > & other ) const

inline

Add a MxN-sized vector to the ParameterMatrix.

Parameters

other Vector which is reshaped and added.

◆ operator+() [2/2]

template<int M>

ParameterMatrix< M > gtsam::ParameterMatrix< M >::operator+ ( const ParameterMatrix< M > & other ) const

inline

Add a ParameterMatrix to another.

Parameters

other ParameterMatrix to add.

◆ operator-() [1/2]

template<int M>

ParameterMatrix< M > gtsam::ParameterMatrix< M >::operator- ( const Eigen::Matrix< double, -1, 1 > & other ) const

inline

Subtract a MxN-sized vector from the ParameterMatrix.

Parameters

other Vector which is reshaped and subracted.

◆ operator-() [2/2]

template<int M>

ParameterMatrix< M > gtsam::ParameterMatrix< M >::operator- ( const ParameterMatrix< M > & other ) const

inline

Subtract a ParameterMatrix from another.

Parameters

other ParameterMatrix to subtract.

◆ print()

template<int M>

void gtsam::ParameterMatrix< M >::print ( const std::string & s = "" ) const

inline

Print the ParameterMatrix.

Parameters

s	The prepend string to add more contextual info.

◆ row() [1/2]

template<int M>

auto gtsam::ParameterMatrix< M >::row ( size_t index ) -> Eigen::Block<MatrixType, 1, -1, false>

inline

Set the matrix row specified by index.

Parameters

index The row index to set.

◆ row() [2/2]

template<int M>

Eigen::Matrix< double, 1, -1 > gtsam::ParameterMatrix< M >::row ( size_t index ) const

inline

Get the matrix row specified by index.

Parameters

index The row index to retrieve.

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

/Users/dellaert/git/github/gtsam/basis/ParameterMatrix.h

Detailed Description

Vector Space requirements, following LieMatrix

Public Member Functions

Public Types

Constructor & Destructor Documentation

◆ ParameterMatrix() [1/2]

◆ ParameterMatrix() [2/2]

Member Function Documentation

◆ col() [1/2]

◆ col() [2/2]

◆ equals()

◆ identity()

◆ operator*()

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ print()

◆ row() [1/2]

◆ row() [2/2]