gtsam::MultiplyWithInverseFunction< T, N > Struct Template Reference

#include <Matrix.h>

Public Types
enum	{ M = traits<T>::dimension }
typedef Eigen::Matrix< double, N, 1 >	VectorN
typedef Eigen::Matrix< double, N, N >	MatrixN
typedef std::function< VectorN(const T &, const VectorN &, OptionalJacobian< N, M >, OptionalJacobian< N, N >)>	Operator

Public Member Functions
	MultiplyWithInverseFunction (const Operator &phi)
	Construct with function as explained above.
VectorN	operator() (const T &a, const VectorN &b, OptionalJacobian< N, M > H1={}, OptionalJacobian< N, N > H2={}) const
	f(a).inverse() * b, with optional derivatives

Detailed Description

template<typename T, int N>
struct gtsam::MultiplyWithInverseFunction< T, N >

Functor that implements multiplication with the inverse of a matrix, itself the result of a function f. It turn out we only need the derivatives of the operator phi(a): b -> f(a) * b

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

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/base/Matrix.h