mrpt::srba::THessianSymbolicInfo< Scalar, N, M1, M2 >::THessianSymbolicInfoEntry Struct Reference

Detailed Description

template<typename Scalar, int N, int M1, int M2>
struct mrpt::srba::THessianSymbolicInfo< Scalar, N, M1, M2 >::THessianSymbolicInfoEntry

This Hessian block equals the sum of all J1^t * * J2, with J1=first, J2=second in each std::pair "const char *" are pointers to the validity bit of each Jacobian, so if it evaluates to false we should discard the Hessian entry.

Definition at line 282 of file srba_types.h.

#include <mrpt/srba/srba_types.h>

Public Member Functions
	THessianSymbolicInfoEntry (const matrix1_t *const J1_, const matrix2_t *const J2_, const char *const J1_valid_, const char *const J2_valid_, const size_t obs_idx_)
	THessianSymbolicInfoEntry ()

Public Attributes
const matrix1_t *	J1
const matrix2_t *	J2
const char *	J1_valid
const char *	J2_valid
size_t	obs_idx
	Global index of the observation that generated this Hessian entry (used to retrieve the in "J1^t * \Lambda * J2", if applicable). More...

Constructor & Destructor Documentation

template<typename Scalar , int N, int M1, int M2>

mrpt::srba::THessianSymbolicInfo< Scalar, N, M1, M2 >::THessianSymbolicInfoEntry::THessianSymbolicInfoEntry ( const matrix1_t *const  J1_, const matrix2_t *const  J2_, const char *const  J1_valid_, const char *const  J2_valid_, const size_t  obs_idx_  )

inline

Definition at line 290 of file srba_types.h.

template<typename Scalar , int N, int M1, int M2>

mrpt::srba::THessianSymbolicInfo< Scalar, N, M1, M2 >::THessianSymbolicInfoEntry::THessianSymbolicInfoEntry ( )

inline

Definition at line 295 of file srba_types.h.

Member Data Documentation

template<typename Scalar , int N, int M1, int M2>

const matrix1_t* mrpt::srba::THessianSymbolicInfo< Scalar, N, M1, M2 >::THessianSymbolicInfoEntry::J1

Definition at line 284 of file srba_types.h.

template<typename Scalar , int N, int M1, int M2>

const char* mrpt::srba::THessianSymbolicInfo< Scalar, N, M1, M2 >::THessianSymbolicInfoEntry::J1_valid

Definition at line 286 of file srba_types.h.

template<typename Scalar , int N, int M1, int M2>

const matrix2_t* mrpt::srba::THessianSymbolicInfo< Scalar, N, M1, M2 >::THessianSymbolicInfoEntry::J2

Definition at line 285 of file srba_types.h.

template<typename Scalar , int N, int M1, int M2>

const char* mrpt::srba::THessianSymbolicInfo< Scalar, N, M1, M2 >::THessianSymbolicInfoEntry::J2_valid

Definition at line 287 of file srba_types.h.

template<typename Scalar , int N, int M1, int M2>

size_t mrpt::srba::THessianSymbolicInfo< Scalar, N, M1, M2 >::THessianSymbolicInfoEntry::obs_idx

Global index of the observation that generated this Hessian entry (used to retrieve the in "J1^t * \Lambda * J2", if applicable).

Definition at line 288 of file srba_types.h.