gtsam  4.1.0
gtsam
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 https://people.maths.ox.ac.uk/gilesm/files/NA-08-01.pdf

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: