gtsam::OptionalJacobian< Eigen::Dynamic, Eigen::Dynamic > Class Reference

Public Member Functions
	OptionalJacobian ()
	View on constructor argument, if given.
	OptionalJacobian (Jacobian *pointer)
	Construct from pointer to dynamic matrix.
	OptionalJacobian (Jacobian &dynamic)
	Construct from refrence to dynamic matrix.
	OptionalJacobian (std::nullopt_t)
	Constructor with std::nullopt just makes empty.
	OptionalJacobian (const std::optional< std::reference_wrapper< Eigen::MatrixXd > > optional)
	Constructor for optional matrix reference.
	operator bool () const
	Return true if allocated, false if default constructor was used.
Jacobian &	operator* ()
	De-reference, like boost optional.
Jacobian *	operator-> ()
	TODO: operator->().
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::MatrixXd	Jacobian
	Jacobian size type.
typedef Eigen::Stride< Eigen::Dynamic, 1 >	Stride
typedef Eigen::Map< Jacobian, 0, Stride >	Map

Constructor & Destructor Documentation

OptionalJacobian()

gtsam::OptionalJacobian< Eigen::Dynamic, Eigen::Dynamic >::OptionalJacobian ( )

inline

View on constructor argument, if given.

Default constructor

Member Function Documentation

cols()

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.

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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