Detailed Description

template<typename DERIVED>
template<int M>
class gtsam::Basis< DERIVED >::VectorEvaluationFunctor< M >

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

This functor is used to evaluate a parameterized function at a given scalar value x. When given a specific M*N parameters, returns an M-vector the M corresponding functions at x, possibly with Jacobians wrpt the parameters.

Inheritance diagram for gtsam::Basis< DERIVED >::VectorEvaluationFunctor< M >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	VectorEvaluationFunctor ()
	For serialization.

	VectorEvaluationFunctor (size_t N, double x)
	Default Constructor.

	VectorEvaluationFunctor (size_t N, double x, double a, double b)
	Constructor, with interval [a,b].

VectorM	apply (const ParameterMatrix< M > &P, OptionalJacobian< -1, -1 > H=boost::none) const
	M-dimensional evaluation.

VectorM	operator() (const ParameterMatrix< M > &P, OptionalJacobian< -1, -1 > H=boost::none) const
	c++ sugar

Protected Types
using	VectorM = Eigen::Matrix< double, M, 1 >

using	Jacobian = Eigen::Matrix< double, M, -1 >

Protected Member Functions
void	calculateJacobian ()
	Calculate the `M(MN)` Jacobian of this functor with respect to the M*N parameter matrix `P`. More...

Protected Member Functions inherited from gtsam::Basis< DERIVED >::EvaluationFunctor
	EvaluationFunctor ()
	For serialization.

	EvaluationFunctor (size_t N, double x)
	Constructor with interval [a,b].

	EvaluationFunctor (size_t N, double x, double a, double b)
	Constructor with interval [a,b].

double	apply (const typename DERIVED::Parameters &p, OptionalJacobian<-1, -1 > H=boost::none) const
	Regular 1D evaluation.

double	operator() (const typename DERIVED::Parameters &p, OptionalJacobian<-1, -1 > H=boost::none) const
	c++ sugar

void	print (const std::string &s="") const

Protected Attributes
Jacobian	H_

Protected Attributes inherited from gtsam::Basis< DERIVED >::EvaluationFunctor
Weights	weights_

Member Function Documentation

◆ calculateJacobian()

template<typename DERIVED >

template<int M>

void gtsam::Basis< DERIVED >::VectorEvaluationFunctor< M >::calculateJacobian ( )

inlineprotected

Calculate the M*(M*N) Jacobian of this functor with respect to the M*N parameter matrix P.

We flatten assuming column-major order, e.g., if N=3 and M=2, we have H =[ w(0) 0 w(1) 0 w(2) 0 0 w(0) 0 w(1) 0 w(2) ] i.e., the Kronecker product of weights_ with the MxM identity matrix.

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

/Users/dellaert/git/github/gtsam/basis/Basis.h

Detailed Description

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ calculateJacobian()