gtsam::JointMarginal Class Reference

Detailed Description

A class to store and access a joint marginal, returned from Marginals::jointMarginalCovariance and Marginals::jointMarginalInformation.

Public Member Functions
	JointMarginal ()
	Default constructor only for Cython wrapper.
Matrix	operator() (Key iVariable, Key jVariable) const
	Access a block, corresponding to a pair of variables, of the joint marginal. More...
Matrix	at (Key iVariable, Key jVariable) const
	Synonym for operator()
Matrix	fullMatrix () const
	The full, dense covariance/information matrix of the joint marginal. More...
void	print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const
	Print.

Protected Member Functions
	JointMarginal (const Matrix &fullMatrix, const std::vector< size_t > &dims, const KeyVector &keys)

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

Friends
class	Marginals

Member Function Documentation

fullMatrix()

Matrix gtsam::JointMarginal::fullMatrix ( ) const

inline

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

operator()()

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

inline

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

Each block is accessed by its "vertical position", corresponding to the variable with nonlinear Key iVariable and "horizontal position", corresponding to the variable with nonlinear Key jVariable.

For example, if we have the joint marginal on a 2D pose "x3" and a 2D landmark "l2", then jointMarginal(Symbol('x',3), Symbol('l',2)) will return the 3x2 block of the joint covariance matrix corresponding to x3 and l2.

Parameters

iVariable	The nonlinear Key specifying the "vertical position" of the requested block
jVariable	The nonlinear Key specifying the "horizontal position" of the requested block

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

• /Users/dellaert/git/gtsam/gtsam/nonlinear/Marginals.h
• /Users/dellaert/git/gtsam/gtsam/nonlinear/Marginals.cpp