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. Finally, there is a constructor that takes boost::none, the default constructor acts like boost::none, and boost::optional<Eigen::MatrixXd&> is also supported for backwards compatibility. Below this class, a dynamic version is also implemented.

Public Member Functions
	OptionalJacobian ()
	Default constructor acts like boost::none.
	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 (boost::none_t)
	Constructor with boost::none just makes empty.
	OptionalJacobian (const boost::optional< 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. More...
Eigen::Map< Jacobian > &	operator * ()
	De-reference, like boost optional.
Eigen::Map< Jacobian > *	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. More...

Public Types
typedef Eigen::Matrix< double, Rows, Cols >	Jacobian
	Jacobian size type TODO(frank): how to enforce RowMajor? Or better, make it work with any storage order?

Friends
template<int M, int N>
class	OptionalJacobian

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 is allocated, false if default constructor was used

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

• /Users/dellaert/git/gtsam/gtsam/base/OptionalJacobian.h