GTSAM
4.0.2
C++ library for smoothing and mapping (SAM)
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#include <Matrix.h>
Public Types | |
typedef Eigen::Matrix< double, N, 1 > | VectorN |
typedef Eigen::Matrix< double, N, N > | MatrixN |
Public Member Functions | |
VectorN | operator() (const MatrixN &A, const VectorN &b, OptionalJacobian< N, N *N > H1={}, OptionalJacobian< N, N > H2={}) const |
A.inverse() * b, with optional derivatives. | |
Functor that implements multiplication of a vector b with the inverse of a matrix A. The derivatives are inspired by Mike Giles' "An extended collection of matrix derivative results for forward and reverse mode algorithmic differentiation", at https://people.maths.ox.ac.uk/gilesm/files/NA-08-01.pdf