isam::Covariances Class Reference

List of all members.

Public Types
typedef std::list< std::list < Node * > >	node_lists_t
typedef std::list< std::pair < Node *, Node * > >	node_pair_list_t
Public Member Functions
	Covariances (Slam *slam)
virtual Covariances	clone () const
virtual std::list < Eigen::MatrixXd >	marginal (const node_lists_t &node_lists) const
virtual Eigen::MatrixXd	marginal (const std::list< Node * > &nodes) const
virtual std::list < Eigen::MatrixXd >	access (const node_pair_list_t &node_pair_list) const

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Detailed Description

Definition at line 42 of file Covariances.h.

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Constructor & Destructor Documentation

isam::Covariances::Covariances

(

Slam *

slam

)

[inline]

Create an instance based on a Slam object, that always refers to the latest state of slam.

Definition at line 66 of file Covariances.h.

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Member Function Documentation

list< MatrixXd > isam::Covariances::access

(

const node_pair_list_t &

node_pair_list

)

const [virtual]

Calculates individual entries of the covariance matrix (as opposed to marginal_covariance, which calculates blocks containing select variables). Note that a single call with a long list of entries is significantly more efficient than repeatedly calling this function, as intermediate results are being reused.

Parameters:

entry_list

List of pairs of nodes, indexing entries in the covariance matrix in (column, row) format.

Returns:

List of matrices.

Definition at line 107 of file Covariances.cpp.

virtual Covariances isam::Covariances::clone

(

)

const [inline, virtual]

Create a stand-alone copy, useful for calculating covariances in a separate thread. Copies all necessary data structures to work independently of the Slam object.

Returns:

Covariances object that is independent of Slam object.

Definition at line 76 of file Covariances.h.

list< MatrixXd > isam::Covariances::marginal

(

const node_lists_t &

node_lists

)

const [virtual]

Calculates marginal covariance over a list of lists. Significantly more efficient than calling marginal_covariance multiple times with separate lists, as intermediate results are being reused.

Parameters:

node_lists

List of list of nodes.

Returns:

List of marginal covariance matrices.

Definition at line 70 of file Covariances.cpp.

MatrixXd isam::Covariances::marginal

(

const std::list< Node * > &

nodes

)

const [virtual]

Calculates marginal covariance over a list of nodes.

Parameters:

nodes

List of nodes. return Marginal covariance matrix.

Definition at line 101 of file Covariances.cpp.

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The documentation for this class was generated from the following files:

• include/isam/Covariances.h
• isamlib/Covariances.cpp