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

#include <Basis.h>

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

Collaboration 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={}) const
	Manifold evaluation.
T	operator() (const ParameterMatrix< M > &P, OptionalJacobian< -1, -1 > H={}) const
	c++ sugar
double	apply (const typename DERIVED::Parameters &p, OptionalJacobian<-1, -1 > H={}) const
	Regular 1D evaluation.
double	operator() (const typename DERIVED::Parameters &p, OptionalJacobian<-1, -1 > H={}) const
	c++ sugar

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

Protected Member Functions
void	calculateJacobian ()
void	print (const std::string &s="") const

Protected Attributes
Jacobian	H_
Weights	weights_

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.

Member Function Documentation

calculateJacobian()

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

inlineprotectedinherited

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.

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

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/basis/Basis.h