gtsam::JointMarginal Class Reference

Detailed Description

A class to store and access a joint marginal, returned from Gaussian and nonlinear covariance query APIs.

Public Member Functions
	JointMarginal ()
	Default constructor only for wrappers.
Matrix	operator() (Key iVariable, Key jVariable) const
	Access a block, corresponding to a pair of variables, of the joint marginal.
Matrix	at (Key iVariable, Key jVariable) const
	Synonym for operator() See operator() for indexing semantics.
Matrix	fullMatrix () const
	The full, dense covariance/information matrix of the joint marginal.
void	print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const
	Print.
	JointMarginal (const Matrix &fullMatrix, const Scatter &scatter)
	Construct from a dense matrix and its block layout.

Protected Attributes
SymmetricBlockMatrix	blockMatrix_
KeyVector	keys_
FastMap< Key, size_t >	indices_

Member Function Documentation

fullMatrix()

Matrix gtsam::JointMarginal::fullMatrix ( ) const

inline

The full, dense covariance/information matrix of the joint marginal.

Blocks follow the order of the keys in the query that created this object.

operator()()

Matrix gtsam::JointMarginal::operator() ( Key iVariable, Key jVariable ) const

inline

Access a block, corresponding to a pair of variables, of the joint marginal.

Note: iVariable and jVariable are the actual nonlinear Keys used to construct this JointMarginal (the keys passed to jointMarginalCovariance()/jointMarginalInformation()), NOT positional indices into the block matrix. To retrieve the single variable marginal for key (equivalent to Marginals::marginalCovariance(key)), call at(key, key), not at(0, key) or any other cross covariance block, which represents the covariance between two different variables and will generally differ.

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

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/linear/JointMarginal.h
• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/linear/JointMarginal.cpp