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

## Detailed Description

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

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.

This component is specified by the row index i, with 0<i<M. Inheritance diagram for gtsam::Basis< DERIVED >::ComponentDerivativeFunctor< M >:

## Public Member Functions

ComponentDerivativeFunctor ()
For serialization.

ComponentDerivativeFunctor (size_t N, size_t i, double x)
Construct with row index.

ComponentDerivativeFunctor (size_t N, size_t i, double x, double a, double b)
Construct with row index and interval.

double apply (const ParameterMatrix< M > &P, OptionalJacobian< -1, -1 > H=boost::none) const
Calculate derivative of component rowIndex_ of F.

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

## Protected Types

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

## Protected Member Functions

void calculateJacobian (size_t N) Protected Member Functions inherited from gtsam::Basis< DERIVED >::DerivativeFunctorBase
DerivativeFunctorBase ()
For serialization.

DerivativeFunctorBase (size_t N, double x)

DerivativeFunctorBase (size_t N, double x, double a, double b)

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

## Protected Attributes

size_t rowIndex_

Jacobian H_ Protected Attributes inherited from gtsam::Basis< DERIVED >::DerivativeFunctorBase
Weights weights_

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