gtsam  4.0.0
gtsam::MultiplyWithInverse< N > Struct Template Reference

Detailed Description

template<int N>
struct gtsam::MultiplyWithInverse< N >

Functor that implements multiplication of a vector b with the inverse of a matrix A.

The derivatives are inspired by Mike Giles' "An extended collection of matrix derivative results for forward and reverse mode algorithmic differentiation", at

Public Member Functions

VectorN operator() (const MatrixN &A, const VectorN &b, OptionalJacobian< N, N *N > H1=boost::none, OptionalJacobian< N, N > H2=boost::none) const
 A.inverse() * b, with optional derivatives.

Public Types

typedef Eigen::Matrix< double, N, 1 > VectorN
typedef Eigen::Matrix< double, N, N > MatrixN

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