gtsam::Basis< DERIVED >::ManifoldEvaluationFunctor< T > Class Template Reference

Detailed Description

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

Manifold EvaluationFunctor 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.

The difference with the VectorEvaluationFunctor is that after computing the M*1 vector xi=F(x;P), with x a scalar and P the M*N parameter vector, we also retract xi back to the T manifold. For example, if T==Rot3, then we first compute a 3-vector xi using x and P, and then map that 3-vector xi back to the Rot3 manifold, yielding a valid 3D rotation.

Inheritance diagram for gtsam::Basis< DERIVED >::ManifoldEvaluationFunctor< T >:

Public Member Functions
	ManifoldEvaluationFunctor ()
	For serialization.
	ManifoldEvaluationFunctor (size_t N, double x)
	Default Constructor.
	ManifoldEvaluationFunctor (size_t N, double x, double a, double b)
	Constructor, with interval [a,b].
T	apply (const ParameterMatrix< M > &P, OptionalJacobian< -1, -1 > H=boost::none) const
	Manifold evaluation.
T	operator() (const ParameterMatrix< M > &P, OptionalJacobian< -1, -1 > H=boost::none) const
	c++ sugar
Public Member Functions inherited from gtsam::Basis< DERIVED >::VectorEvaluationFunctor< traits< T >::dimension >
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

Additional Inherited Members
Protected Types inherited from gtsam::Basis< DERIVED >::VectorEvaluationFunctor< traits< T >::dimension >
using	VectorM = Eigen::Matrix< double, M, 1 >
using	Jacobian = Eigen::Matrix< double, M, -1 >
Protected Member Functions inherited from gtsam::Basis< DERIVED >::VectorEvaluationFunctor< traits< T >::dimension >
void	calculateJacobian ()
	Calculate the M*(M*N) 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 inherited from gtsam::Basis< DERIVED >::VectorEvaluationFunctor< traits< T >::dimension >
Jacobian	H_
Protected Attributes inherited from gtsam::Basis< DERIVED >::EvaluationFunctor
Weights	weights_

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

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