gtsam  4.1.0
gtsam
gtsam::MultiplyWithInverseFunction< T, N > Struct Template Reference

Detailed Description

template<typename T, int N>
struct gtsam::MultiplyWithInverseFunction< T, N >

Functor that implements multiplication with the inverse of a matrix, itself the result of a function f.

It turn out we only need the derivatives of the operator phi(a): b -> f(a) * b

Public Member Functions

 MultiplyWithInverseFunction (const Operator &phi)
 Construct with function as explained above.
 
VectorN operator() (const T &a, const VectorN &b, OptionalJacobian< N, M > H1=boost::none, OptionalJacobian< N, N > H2=boost::none) const
 f(a).inverse() * b, with optional derivatives
 

Public Types

enum  { M = traits<T>::dimension }
 
typedef Eigen::Matrix< double, N, 1 > VectorN
 
typedef Eigen::Matrix< double, N, N > MatrixN
 
typedef boost::function< VectorN(const T &, const VectorN &, OptionalJacobian< N, M >, OptionalJacobian< N, N >)> Operator
 

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