gtsam::ParameterMatrix< M > Class Template Reference

#include <ParameterMatrix.h>

Public Types
enum	{ dimension = Eigen::Dynamic }

Public Member Functions
	ParameterMatrix (const size_t N)
	ParameterMatrix (const MatrixType &matrix)
size_t	rows () const
	Get the number of rows.
size_t	cols () const
	Get the number of columns.
MatrixType	matrix () const
	Get the underlying matrix.
Eigen::Matrix< double, -1, M >	transpose () const
	Return the tranpose of the underlying matrix.
Eigen::Matrix< double, 1, -1 >	row (size_t index) const
auto	row (size_t index) -> Eigen::Block< MatrixType, 1, -1, false >
Eigen::Matrix< double, M, 1 >	col (size_t index) const
auto	col (size_t index) -> Eigen::Block< MatrixType, M, 1, true >
void	setZero ()
ParameterMatrix< M >	operator+ (const ParameterMatrix< M > &other) const
ParameterMatrix< M >	operator+ (const Eigen::Matrix< double, -1, 1 > &other) const
ParameterMatrix< M >	operator- (const ParameterMatrix< M > &other) const
ParameterMatrix< M >	operator- (const Eigen::Matrix< double, -1, 1 > &other) const
MatrixType	operator* (const Eigen::Matrix< double, -1, -1 > &other) const

Vector Space requirements
void	print (const std::string &s="") const
bool	equals (const ParameterMatrix< M > &other, double tol=1e-8) const
size_t	dim () const
	Returns dimensionality of the tangent space.
Vector	vector () const
	Convert to vector form, is done row-wise.
static ParameterMatrix	Identity ()

Detailed Description

template<int M>
class gtsam::ParameterMatrix< M >

A matrix abstraction of MxN values at the Basis points. This class serves as a wrapper over an Eigen matrix.

Template Parameters

M	The dimension of the type you wish to evaluate.

Parameters

N	the number of Basis points (e.g. Chebyshev points of the second kind).

Constructor & Destructor Documentation

ParameterMatrix() [1/2]

template<int M>

gtsam::ParameterMatrix< M >::ParameterMatrix ( const size_t  N )

inline

Create ParameterMatrix using the number of basis points.

Parameters

N	The number of basis points (the columns).

ParameterMatrix() [2/2]

template<int M>

gtsam::ParameterMatrix< M >::ParameterMatrix ( const MatrixType &  matrix )

inline

Create ParameterMatrix from an MxN Eigen Matrix.

Parameters

matrix

An Eigen matrix used to initialze the ParameterMatrix.

Member Function Documentation

col() [1/2]

template<int M>

Eigen::Matrix<double, M, 1> gtsam::ParameterMatrix< M >::col ( size_t  index ) const

inline

Get the matrix column specified by index.

Parameters

index

The column index to retrieve.

col() [2/2]

template<int M>

auto gtsam::ParameterMatrix< M >::col ( size_t  index ) -> Eigen::Block<MatrixType, M, 1, true>

inline

Set the matrix column specified by index.

Parameters

index

The column index to set.

equals()

template<int M>

bool gtsam::ParameterMatrix< M >::equals ( const ParameterMatrix< M > &  other, double  tol = 1e-8  ) const

inline

Check for equality up to absolute tolerance.

Parameters

other	The ParameterMatrix to check equality with.
tol	The absolute tolerance threshold.

Identity()

template<int M>

static ParameterMatrix gtsam::ParameterMatrix< M >::Identity ( )

inlinestatic

Identity function to satisfy VectorSpace traits.

NOTE: The size at compile time is unknown so this identity is zero length and thus not valid.

operator*()

template<int M>

MatrixType gtsam::ParameterMatrix< M >::operator* ( const Eigen::Matrix< double, -1, -1 > &  other ) const

inline

Multiply ParameterMatrix with an Eigen matrix.

Parameters

other

Eigen matrix which should be multiplication compatible with the ParameterMatrix.

operator+() [1/2]

template<int M>

ParameterMatrix<M> gtsam::ParameterMatrix< M >::operator+ ( const ParameterMatrix< M > &  other ) const

inline

Add a ParameterMatrix to another.

Parameters

other

ParameterMatrix to add.

operator+() [2/2]

template<int M>

ParameterMatrix<M> gtsam::ParameterMatrix< M >::operator+ ( const Eigen::Matrix< double, -1, 1 > &  other ) const

inline

Add a MxN-sized vector to the ParameterMatrix.

Parameters

other

Vector which is reshaped and added.

operator-() [1/2]

template<int M>

ParameterMatrix<M> gtsam::ParameterMatrix< M >::operator- ( const ParameterMatrix< M > &  other ) const

inline

Subtract a ParameterMatrix from another.

Parameters

other

ParameterMatrix to subtract.

operator-() [2/2]

template<int M>

ParameterMatrix<M> gtsam::ParameterMatrix< M >::operator- ( const Eigen::Matrix< double, -1, 1 > &  other ) const

inline

Subtract a MxN-sized vector from the ParameterMatrix.

Parameters

other

Vector which is reshaped and subracted.

print()

template<int M>

void gtsam::ParameterMatrix< M >::print ( const std::string &  s = "" ) const

inline

Print the ParameterMatrix.

Parameters

s	The prepend string to add more contextual info.

row() [1/2]

template<int M>

Eigen::Matrix<double, 1, -1> gtsam::ParameterMatrix< M >::row ( size_t  index ) const

inline

Get the matrix row specified by index.

Parameters

index

The row index to retrieve.

row() [2/2]

template<int M>

auto gtsam::ParameterMatrix< M >::row ( size_t  index ) -> Eigen::Block<MatrixType, 1, -1, false>

inline

Set the matrix row specified by index.

Parameters

index

The row index to set.

setZero()

template<int M>

void gtsam::ParameterMatrix< M >::setZero ( )

inline

Set all matrix coefficients to zero.

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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/ParameterMatrix.h