iSAM
covariance.h File Reference

Recovery of marginal covariance matrix. More...

#include <vector>
#include <utility>
#include <list>
#include <Eigen/Dense>
#include <tr1/unordered_map>
#include "SparseMatrix.h"
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Classes

class  isam::CovarianceCache

Typedefs

typedef
std::tr1::unordered_map< int,
double > 
isam::umap
typedef std::vector
< std::vector< int > > 
isam::index_lists_t
typedef std::vector< std::pair
< int, int > > 
isam::entry_list_t

Functions

std::list< Eigen::MatrixXd > isam::cov_marginal (const SparseMatrix &R, CovarianceCache &cache, const index_lists_t &index_lists, bool debug=false, int step=-1)
std::list< double > isam::cov_marginal (const SparseMatrix &R, CovarianceCache &cache, const entry_list_t &entry_list)

Detailed Description

Recovery of marginal covariance matrix.

Author:
Michael Kaess
Nicholas Carlevaris-Bianco
Version:
Id:
covariance.h 8578 2013-07-01 00:28:49Z kaess

Copyright (C) 2009-2013 Massachusetts Institute of Technology. Michael Kaess, Hordur Johannsson, David Rosen, Nicholas Carlevaris-Bianco and John. J. Leonard

This file is part of iSAM.

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iSAM is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

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Definition in file covariance.h.

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