gtsam 4.1.1 gtsam
gtsam::Basis< DERIVED > Class Template Reference

## Detailed Description

template<typename DERIVED>
class gtsam::Basis< DERIVED >

CRTP Base class for function bases.

## Static Public Member Functions

static Matrix WeightMatrix (size_t N, const Vector &X)
Calculate weights for all x in vector X. More...

static Matrix WeightMatrix (size_t N, const Vector &X, double a, double b)
Calculate weights for all x in vector X, with interval [a,b]. More...

static double Derivative (double x, const Vector &p, OptionalJacobian< -1, -1 > H=boost::none)

## Classes

class  ComponentDerivativeFunctor
Given a M*N Matrix of M-vectors at N polynomial points, an instance of ComponentDerivativeFunctor computes the N-vector derivative for a specific row component of the M-vectors at all the polynomial points. More...

class  DerivativeFunctor
An instance of a DerivativeFunctor calculates f'(x;p) at a given x, applied to Parameters p. More...

class  DerivativeFunctorBase
Base class for functors below that calculate derivative weights. More...

class  EvaluationFunctor
An instance of an EvaluationFunctor calculates f(x;p) at a given x, applied to Parameters p. More...

class  ManifoldEvaluationFunctor
Manifold EvaluationFunctor at a given x, applied to ParameterMatrix<M>. More...

class  VectorComponentFunctor
Given a M*N Matrix of M-vectors at N polynomial points, an instance of VectorComponentFunctor computes the N-vector value for a specific row component of the M-vectors at all the polynomial points. More...

class  VectorDerivativeFunctor
VectorDerivativeFunctor at a given x, applied to ParameterMatrix<M>. More...

class  VectorEvaluationFunctor
VectorEvaluationFunctor at a given x, applied to ParameterMatrix<M>. More...

## ◆ WeightMatrix() [1/2]

template<typename DERIVED >
 static Matrix gtsam::Basis< DERIVED >::WeightMatrix ( size_t N, const Vector & X )
inlinestatic

Calculate weights for all x in vector X.

Returns M*N matrix where M is the size of the vector X, and N is the number of basis functions.

## ◆ WeightMatrix() [2/2]

template<typename DERIVED >
 static Matrix gtsam::Basis< DERIVED >::WeightMatrix ( size_t N, const Vector & X, double a, double b )
inlinestatic

Calculate weights for all x in vector X, with interval [a,b].

Parameters
 N The number of basis functions. X The vector for which to compute the weights. a The lower bound for the interval range. b The upper bound for the interval range.
Returns
Returns M*N matrix where M is the size of the vector X.

The documentation for this class was generated from the following file:
• /Users/dellaert/git/github/gtsam/basis/Basis.h