Detailed Description

Usage: A possible type for RBA_OPTIONS::obs_noise_matrix_t.

Meaning: The sensor noise matrix is the same for all observations and equal to * I(identity).

Definition at line 25 of file 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...

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...

Member Function Documentation

template<class MATRIX_H , class MATRIX_J1 , class MATRIX_J2 >

static void mrpt::srba::options::observation_noise_identity::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 45 of file srba_options_noise.h.

template<class VECTOR_GRAD , class MATRIX_J , class VECTOR_R >

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