#include <Marginals.h>
|
| JointMarginal (const Matrix &fullMatrix, const std::vector< size_t > &dims, const KeyVector &keys) |
|
◆ at()
Matrix gtsam::JointMarginal::at |
( |
Key |
iVariable, |
|
|
Key |
jVariable |
|
) |
| const |
|
inline |
◆ fullMatrix()
Matrix gtsam::JointMarginal::fullMatrix |
( |
| ) |
const |
|
inline |
The full, dense covariance/information matrix of the joint marginal.
◆ operator()()
Matrix gtsam::JointMarginal::operator() |
( |
Key |
iVariable, |
|
|
Key |
jVariable |
|
) |
| const |
|
inline |
Access a block, corresponding to a pair of variables, of the joint marginal. Each block is accessed by its "vertical position", corresponding to the variable with nonlinear Key iVariable
and "horizontal position", corresponding to the variable with nonlinear Key jVariable
.
For example, if we have the joint marginal on a 2D pose "x3" and a 2D landmark "l2", then jointMarginal(Symbol('x',3), Symbol('l',2)) will return the 3x2 block of the joint covariance matrix corresponding to x3 and l2.
- Parameters
-
iVariable | The nonlinear Key specifying the "vertical position" of the requested block |
jVariable | The nonlinear Key specifying the "horizontal position" of the requested block |
◆ print()
void gtsam::JointMarginal::print |
( |
const std::string & |
s = "" , |
|
|
const KeyFormatter & |
formatter = DefaultKeyFormatter |
|
) |
| const |
The documentation for this class was generated from the following file:
- /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/nonlinear/Marginals.h