mrpt::srba::options::observation_noise_constant_matrix< OBS_TYPE > Struct Template Reference

Detailed Description

template<class OBS_TYPE>
struct mrpt::srba::options::observation_noise_constant_matrix< OBS_TYPE >

Usage: A possible type for RBA_OPTIONS::obs_noise_matrix_t.

Meaning: The sensor noise matrix is an arbitrary matrix and the same for all observations.

Definition at line 79 of file srba_options_noise.h.

#include <mrpt/srba/srba_options_noise.h>

Classes
struct	noise_data_per_obs_t
	Internal struct for data that must be stored for each observation. More...
struct	parameters_t
	Observation noise parameters to be filled by the user in srba.parameters.obs_noise. More...

Public Types
typedef Eigen::Matrix< double, OBS_DIMS, OBS_DIMS >	obs_noise_matrix_t
	Type for symetric, positive-definite noise matrices. More...

Static Public Member Functions
template<class MATRIX_H , class MATRIX_J1 , class MATRIX_J2 >
static void	accum_JtJ (MATRIX_H &H, const MATRIX_J1 &J1, const MATRIX_J2 &J2, const size_t obs_idx, const parameters_t &obs_noise_params)
	Must execute H+= J1^t * * J2. More...
template<class MATRIX_H >
static void	scale_H (MATRIX_H &H, const parameters_t &obs_noise_params)
	Do scaling, if applicable, to H after end of all calls to accum_JtJ() More...
template<class VECTOR_GRAD , class MATRIX_J , class VECTOR_R >
static void	accum_Jtr (VECTOR_GRAD &g, const MATRIX_J &J, const VECTOR_R &r, const size_t obs_idx, const parameters_t &obs_noise_params)
	Must execute grad+= J^t * * r. More...
template<class VECTOR_GRAD >
static void	scale_Jtr (VECTOR_GRAD &g, const parameters_t &obs_noise_params)
	Do scaling, if applicable, to GRAD after end of all calls to accum_Jtr() More...

Static Public Attributes
static const size_t	OBS_DIMS = OBS_TYPE::OBS_DIMS
	The dimension of one observation. More...

Member Typedef Documentation

template<class OBS_TYPE >

typedef Eigen::Matrix<double,OBS_DIMS,OBS_DIMS> mrpt::srba::options::observation_noise_constant_matrix< OBS_TYPE >::obs_noise_matrix_t

Type for symetric, positive-definite noise matrices.

Definition at line 83 of file srba_options_noise.h.

Member Function Documentation

template<class OBS_TYPE >

template<class MATRIX_H , class MATRIX_J1 , class MATRIX_J2 >

static void mrpt::srba::options::observation_noise_constant_matrix< OBS_TYPE >::accum_JtJ ( MATRIX_H &  H, const MATRIX_J1 &  J1, const MATRIX_J2 &  J2, const size_t  obs_idx, const parameters_t &  obs_noise_params  )

inlinestatic

Must execute H+= J1^t * * J2.

Definition at line 103 of file srba_options_noise.h.

References mrpt::srba::options::observation_noise_constant_matrix< OBS_TYPE >::parameters_t::lambda, and MRPT_UNUSED_PARAM.

template<class OBS_TYPE >

template<class VECTOR_GRAD , class MATRIX_J , class VECTOR_R >

static void mrpt::srba::options::observation_noise_constant_matrix< OBS_TYPE >::accum_Jtr ( VECTOR_GRAD &  g, const MATRIX_J &  J, const VECTOR_R &  r, const size_t  obs_idx, const parameters_t &  obs_noise_params  )

inlinestatic

Must execute grad+= J^t * * r.

Definition at line 120 of file srba_options_noise.h.

References mrpt::srba::options::observation_noise_constant_matrix< OBS_TYPE >::parameters_t::lambda, and MRPT_UNUSED_PARAM.

template<class OBS_TYPE >

template<class MATRIX_H >

static void mrpt::srba::options::observation_noise_constant_matrix< OBS_TYPE >::scale_H ( MATRIX_H &  H, const parameters_t &  obs_noise_params  )

inlinestatic

Do scaling, if applicable, to H after end of all calls to accum_JtJ()

Definition at line 112 of file srba_options_noise.h.

References MRPT_UNUSED_PARAM.

template<class OBS_TYPE >

template<class VECTOR_GRAD >

static void mrpt::srba::options::observation_noise_constant_matrix< OBS_TYPE >::scale_Jtr ( VECTOR_GRAD &  g, const parameters_t &  obs_noise_params  )

inlinestatic

Do scaling, if applicable, to GRAD after end of all calls to accum_Jtr()

Definition at line 128 of file srba_options_noise.h.

References MRPT_UNUSED_PARAM.

Member Data Documentation

template<class OBS_TYPE >

const size_t mrpt::srba::options::observation_noise_constant_matrix< OBS_TYPE >::OBS_DIMS = OBS_TYPE::OBS_DIMS

static

The dimension of one observation.

Definition at line 81 of file srba_options_noise.h.