Detailed Description

template<typename T, int N>
struct gtsam::MultiplyWithInverseFunction< T, N >

Functor that implements multiplication with the inverse of a matrix, itself the result of a function f.

It turn out we only need the derivatives of the operator phi(a): b -> f(a) * b

Public Member Functions
	MultiplyWithInverseFunction (const Operator &phi)
	Construct with function as explained above.
VectorN	operator() (const T &a, const VectorN &b, OptionalJacobian< N, M > H1={}, OptionalJacobian< N, N > H2={}) const
	f(a).inverse() * b, with optional derivatives

Static Public Attributes
static constexpr auto	M = traits<T>::dimension

Public Types
typedef Eigen::Matrix< double, N, 1 >	VectorN
typedef Eigen::Matrix< double, N, N >	MatrixN
typedef std::function< VectorN(const T &, const VectorN &, OptionalJacobian< N, M >, OptionalJacobian< N, N >)>	Operator

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

Public Member Functions