gtsam 4.1.1 gtsam
gtsam::ScalarMultiplyExpression< T > Class Template Reference

## Detailed Description

template<typename T>
class gtsam::ScalarMultiplyExpression< T >

A ScalarMultiplyExpression is a specialization of Expression that multiplies with a scalar It optimizes the Jacobian calculation for this specific case.

Inheritance diagram for gtsam::ScalarMultiplyExpression< T >:

## Public Member Functions

ScalarMultiplyExpression (double s, const Expression< T > &e)

Public Member Functions inherited from gtsam::Expression< T >
Expression (const T &value)
Construct a constant expression.

Expression (const Key &key)
Construct a leaf expression, with Key.

Expression (const Symbol &symbol)
Construct a leaf expression, with Symbol.

Expression (unsigned char c, std::uint64_t j)
Construct a leaf expression, creating Symbol.

template<typename A >
Expression (typename UnaryFunction< A >::type function, const Expression< A > &expression)
Construct a unary function expression.

template<typename A1 , typename A2 >
Expression (typename BinaryFunction< A1, A2 >::type function, const Expression< A1 > &expression1, const Expression< A2 > &expression2)
Construct a binary function expression.

template<typename A1 , typename A2 , typename A3 >
Expression (typename TernaryFunction< A1, A2, A3 >::type function, const Expression< A1 > &expression1, const Expression< A2 > &expression2, const Expression< A3 > &expression3)
Construct a ternary function expression.

template<typename A >
Expression (const Expression< A > &expression, T(A::*method)(typename MakeOptionalJacobian< T, A >::type) const)
Construct a nullary method expression.

template<typename A1 , typename A2 >
Expression (const Expression< A1 > &expression1, T(A1::*method)(const A2 &, typename MakeOptionalJacobian< T, A1 >::type, typename MakeOptionalJacobian< T, A2 >::type) const, const Expression< A2 > &expression2)
Construct a unary method expression.

template<typename A1 , typename A2 , typename A3 >
Expression (const Expression< A1 > &expression1, T(A1::*method)(const A2 &, const A3 &, typename MakeOptionalJacobian< T, A1 >::type, typename MakeOptionalJacobian< T, A2 >::type, typename MakeOptionalJacobian< T, A3 >::type) const, const Expression< A2 > &expression2, const Expression< A3 > &expression3)
Construct a binary method expression.

virtual ~Expression ()
Destructor.

std::set< Keykeys () const
Return keys that play in this expression.

void dims (std::map< Key, int > &map) const
Return dimensions for each argument, as a map.

void print (const std::string &s) const
Print.

value (const Values &values, boost::optional< std::vector< Matrix > & > H=boost::none) const
Return value and optional derivatives, reverse AD version Notes: this is not terribly efficient, and H should have correct size. More...

virtual boost::shared_ptr< Expressionclone () const

const boost::shared_ptr< internal::ExpressionNode< T > > & root () const
Return root.

size_t traceSize () const
Return size needed for memory buffer in traceExecution.

Expression< T > & operator+= (const Expression< T > &e)
Add another expression to this expression.

Public Types inherited from gtsam::Expression< T >
typedef Expression< T > type
Define type so we can apply it as a meta-function.

Protected Types inherited from gtsam::Expression< T >
typedef std::pair< KeyVector, FastVector< int > > KeysAndDims
Keys and dimensions in same order.

Protected Member Functions inherited from gtsam::Expression< T >
Expression (const boost::shared_ptr< internal::ExpressionNode< T > > &root)
Construct with a custom root.

Expression ()
Default constructor, for serialization.

KeysAndDims keysAndDims () const

valueAndDerivatives (const Values &values, const KeyVector &keys, const FastVector< int > &dims, std::vector< Matrix > &H) const
private version that takes keys and dimensions, returns derivatives

traceExecution (const Values &values, internal::ExecutionTrace< T > &trace, void *traceStorage) const
trace execution, very unsafe

valueAndJacobianMap (const Values &values, internal::JacobianMap &jacobians) const
brief Return value and derivatives, reverse AD version

Protected Attributes inherited from gtsam::Expression< T >
boost::shared_ptr< internal::ExpressionNode< T > > root_

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