gtsam 4.1.1
gtsam
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Helper class encapsulating the combined system |Ax-b_|^2 Needed to run Conjugate Gradients on matrices.
Public Member Functions | |
System (const Matrix &A, const Vector &b) | |
const Matrix & | A () const |
Access A matrix. | |
const Vector & | b () const |
Access b vector. | |
Vector | operator^ (const Vector &e) const |
Apply operator A'*e. | |
void | print (const std::string &s="System") const |
Print with optional string. | |
Vector | gradient (const Vector &x) const |
gradient of objective function 0.5*|Ax-b_|^2 at x = A_'*(Ax-b_) | |
Vector | operator* (const Vector &x) const |
Apply operator A. | |
void | multiplyInPlace (const Vector &x, Vector &e) const |
Apply operator A in place. | |
void | transposeMultiplyAdd (double alpha, const Vector &e, Vector &x) const |
x += alpha* A'*e | |