gtsam::OptionalJacobian< Rows, Cols > Class Template Reference

Detailed Description

template<int Rows, int Cols>
class gtsam::OptionalJacobian< Rows, Cols >

OptionalJacobian is an Eigen::Ref like class that can take be constructed using either a fixed size or dynamic Eigen matrix.

In the latter case, the dynamic matrix will be resized. Below this class, a dynamic version is also implemented.

Public Member Functions
	OptionalJacobian ()
	Default constructor.
	OptionalJacobian (std::nullptr_t)
	Default constructor with nullptr_t To guide the compiler when nullptr is passed to args of the type OptionalJacobian.
	OptionalJacobian (Jacobian &fixed)
	Constructor that will usurp data of a fixed-size matrix.
	OptionalJacobian (Jacobian *fixedPtr)
	Constructor that will usurp data of a fixed-size matrix, pointer version.
	OptionalJacobian (Eigen::MatrixXd &dynamic)
	Constructor that will resize a dynamic matrix (unless already correct).
	OptionalJacobian (Eigen::MatrixXd *dynamic)
	Constructor that will resize a dynamic matrix (unless already correct).
template<class MATRIX>
	OptionalJacobian (Eigen::Ref< MATRIX > dynamic_ref)
	Constructor from an Eigen::Ref value.
	OptionalJacobian (std::nullopt_t)
	Constructor with std::nullopt just makes empty.
	OptionalJacobian (const std::optional< std::reference_wrapper< Eigen::MatrixXd > > optional)
	Constructor compatible with old-style derivatives.
	operator bool () const
	Constructor that will usurp data of a block expression TODO(frank): unfortunately using a Map makes usurping non-contiguous memory impossible.
Map &	operator* ()
	De-reference, like boost optional.
Map *	operator-> ()
	operator->()
template<int N>
OptionalJacobian< Rows, N >	cols (int startCol)
	Access M*N sub-block if we are allocated, otherwise none TODO(frank): this could work as is below if only constructor above worked.

Public Types
typedef Eigen::Matrix< double, Rows, Cols >	Jacobian
	Jacobian size type TODO(frank): how to enforce RowMajor?
typedef Eigen::Stride< Eigen::Dynamic, 1 >	Stride
typedef Eigen::Map< Jacobian, 0, Stride >	Map

Member Typedef Documentation

Jacobian

template<int Rows, int Cols>

typedef Eigen::Matrix<double, Rows, Cols> gtsam::OptionalJacobian< Rows, Cols >::Jacobian

Jacobian size type TODO(frank): how to enforce RowMajor?

Or better, make it work with any storage order?

Constructor & Destructor Documentation

OptionalJacobian()

template<int Rows, int Cols>

template<class MATRIX>

gtsam::OptionalJacobian< Rows, Cols >::OptionalJacobian ( Eigen::Ref< MATRIX > dynamic_ref )

inline

Constructor from an Eigen::Ref value.

Will not usurp if dimension is wrong

Note

This is important so we don't overwrite someone else's memory!

Member Function Documentation

cols()

template<int Rows, int Cols>

template<int N>

OptionalJacobian< Rows, N > gtsam::OptionalJacobian< Rows, Cols >::cols ( int startCol )

inline

Access M*N sub-block if we are allocated, otherwise none TODO(frank): this could work as is below if only constructor above worked.

Access Rows*N sub-block if we are allocated, otherwise return an empty OptionalJacobian The use case is functions with arguments that are dissected, e.g. Pose3 into Rot3, Point3 TODO(frank): ideally, we'd like full block functionality, but see note above.

operator bool()

template<int Rows, int Cols>

gtsam::OptionalJacobian< Rows, Cols >::operator bool ( ) const

inline

Constructor that will usurp data of a block expression TODO(frank): unfortunately using a Map makes usurping non-contiguous memory impossible.

Return true if allocated, false if default constructor was used

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

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/base/OptionalJacobian.h