gtsam::Basis< DERIVED >::VectorDerivativeFunctor Class Reference

Detailed Description

template<typename DERIVED>
class gtsam::Basis< DERIVED >::VectorDerivativeFunctor

VectorDerivativeFunctor at a given x, applied to a parameter Matrix.

This functor is used to evaluate the derivatives of a parameterized function at a given scalar value x. When given a specific M*N parameters, returns an M-vector the M corresponding function derivatives at x, possibly with Jacobians wrpt the parameters.

Inheritance diagram for gtsam::Basis< DERIVED >::VectorDerivativeFunctor:

Public Member Functions
	VectorDerivativeFunctor ()
	For serialization.
	VectorDerivativeFunctor (size_t M, size_t N, double x)
	Default Constructor.
	VectorDerivativeFunctor (size_t M, size_t N, double x, double a, double b)
	Constructor, with optional interval [a,b].
Vector	apply (const Matrix &P, OptionalJacobian< -1, -1 > H={}) const
Vector	operator() (const Matrix &P, OptionalJacobian< -1, -1 > H={}) const
	c++ sugar

Protected Types
using	Jacobian = Eigen::Matrix<double, -1, -1>

Protected Member Functions
void	calculateJacobian ()
	Calculate the M*(M*N) Jacobian of this functor with respect to the M*N parameter matrix P.
Protected Member Functions inherited from gtsam::Basis< DERIVED >::DerivativeFunctorBase
	DerivativeFunctorBase ()
	For serialization.
	DerivativeFunctorBase (size_t N, double x)
	DerivativeFunctorBase (size_t N, double x, double a, double b)
void	print (const std::string &s="") const

Protected Attributes
Jacobian	H_
size_t	M_
Protected Attributes inherited from gtsam::Basis< DERIVED >::DerivativeFunctorBase
Weights	weights_

Member Function Documentation

calculateJacobian()

template<typename DERIVED>

void gtsam::Basis< DERIVED >::VectorDerivativeFunctor::calculateJacobian ( )

inlineprotected

Calculate the M*(M*N) Jacobian of this functor with respect to the M*N parameter matrix P.

We flatten assuming column-major order, e.g., if N=3 and M=2, we have H =[ w(0) 0 w(1) 0 w(2) 0 0 w(0) 0 w(1) 0 w(2) ] i.e., the Kronecker product of weights_ with the MxM identity matrix.

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

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/basis/Basis.h