gtsam  4.1.0
gtsam
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?
 

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 if allocated, false if default constructor was used


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