srba::options::observation_noise_constant_matrix< obs_t > Struct Template Reference

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Detailed Description

template<class obs_t>
struct srba::options::observation_noise_constant_matrix< obs_t >

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 <srba_options_noise.h>

List of all members.

Classes
struct	noise_data_per_obs_t
struct	parameters_t
Public Types
typedef Eigen::Matrix< double, OBS_DIMS, OBS_DIMS >	obs_noise_matrix_t
	Type for symetric, positive-definite noise matrices.
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)
template<class MATRIX_H >
static void	scale_H (MATRIX_H &H, const parameters_t &obs_noise_params)
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)
template<class VECTOR_GRAD >
static void	scale_Jtr (VECTOR_GRAD &g, const parameters_t &obs_noise_params)
Static Public Attributes
static const size_t	OBS_DIMS = obs_t::OBS_DIMS
	The dimension of one observation.

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Member Function Documentation

template<class obs_t >

template<class MATRIX_H , class MATRIX_J1 , class MATRIX_J2 >

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

Must execute H+= J1^t * * J2

Definition at line 103 of file srba_options_noise.h.

template<class obs_t >

template<class VECTOR_GRAD , class MATRIX_J , class VECTOR_R >

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

Must execute grad+= J^t * * r

Definition at line 120 of file srba_options_noise.h.

template<class obs_t >

template<class MATRIX_H >

static void srba::options::observation_noise_constant_matrix< obs_t >::scale_H	(	MATRIX_H &	H,
		const parameters_t &	obs_noise_params
	)		[inline, static]

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

Definition at line 112 of file srba_options_noise.h.

template<class obs_t >

template<class VECTOR_GRAD >

static void srba::options::observation_noise_constant_matrix< obs_t >::scale_Jtr	(	VECTOR_GRAD &	g,
		const parameters_t &	obs_noise_params
	)		[inline, static]

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

Definition at line 128 of file srba_options_noise.h.

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

• srba/srba_options_noise.h