gtsam  4.0.0 gtsam
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_

class Marginals

## ◆ 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

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