#include <wls_cholesky.h>
Public Member Functions | |
WLSCholesky () | |
Default constructor. | |
WLSCholesky (double prior) | |
Construct using a given regularisation prior. | |
WLSCholesky (int Size, double prior=0.0) | |
Construct with a given size and optional regularisation prior. | |
WLSCholesky (const WLSCholesky &w) | |
void | resize (int N) |
sets the size of the WLSCholesky object equalling the number of parameters to estimate | |
int | size (void) const throw () |
returns the size of the object | |
void | clear (double prior=0) |
void | add_prior (double val) |
template<class Accessor, int N> | |
void | add_prior (double val, const FixedVector< N, Accessor > &pos) |
template<class Accessor, int N> | |
void | add_prior (const FixedVector< N, Accessor > &v) |
template<class Accessor, int N> | |
void | add_prior (const FixedMatrix< N, N, Accessor > &m) |
template<class Accessor, int N> | |
void | add_df (double m, const FixedVector< N, Accessor > &J, double weight=1) |
template<class Accessor> | |
void | add_df (double m, const DynamicVector< Accessor > &J, double weight=1) |
template<int N, class Accessor1, class Accessor2, class Accessor3, int M> | |
void | add_df (const FixedVector< N, Accessor1 > &m, const FixedMatrix< M, N, Accessor2 > &J, const FixedMatrix< N, N, Accessor3 > &invcov) |
template<class Accessor1, class Accessor2, class Accessor3> | |
void | add_df (const DynamicVector< Accessor1 > &m, const DynamicMatrix< Accessor2 > &J, const DynamicMatrix< Accessor3 > &invcov) |
void | compute () |
void | operator+= (const WLSCholesky &meas) |
void | operator= (const WLSCholesky &w) |
Matrix<-1, -1, RowMajor > & | get_C_inv () |
Returns the inverse covariance matrix. | |
const Matrix<-1, -1, RowMajor > & | get_C_inv () const |
Returns the inverse covariance matrix. | |
Vector<-1 > & | get_mu () |
const Vector<-1 > & | get_mu () const |
Vector<-1 > & | get_vector () |
const Vector<-1 > & | get_vector () const |
double | get_residual () |
void | add_extra (double e) |
double | get_extra () |
WLSCholesky () | |
Default constructor. | |
WLSCholesky (double prior) | |
Construct using a given regularisation prior. | |
WLSCholesky (int Size, double prior=0.0) | |
Construct with a given size and optional regularisation prior. | |
WLSCholesky (const WLSCholesky &w) | |
void | resize (int N) |
sets the size of the WLSCholesky object equalling the number of parameters to estimate | |
int | size (void) const throw () |
returns the size of the object | |
void | clear (double prior=0) |
void | add_prior (double val) |
template<class Accessor, int N> | |
void | add_prior (double val, const FixedVector< N, Accessor > &pos) |
template<class Accessor, int N> | |
void | add_prior (const FixedVector< N, Accessor > &v) |
template<class Accessor, int N> | |
void | add_prior (const FixedMatrix< N, N, Accessor > &m) |
template<class Accessor, int N> | |
void | add_df (double m, const FixedVector< N, Accessor > &J, double weight=1) |
template<class Accessor> | |
void | add_df (double m, const DynamicVector< Accessor > &J, double weight=1) |
template<int N, class Accessor1, class Accessor2, class Accessor3, int M> | |
void | add_df (const FixedVector< N, Accessor1 > &m, const FixedMatrix< M, N, Accessor2 > &J, const FixedMatrix< N, N, Accessor3 > &invcov) |
template<class Accessor1, class Accessor2, class Accessor3> | |
void | add_df (const DynamicVector< Accessor1 > &m, const DynamicMatrix< Accessor2 > &J, const DynamicMatrix< Accessor3 > &invcov) |
void | compute () |
void | operator+= (const WLSCholesky &meas) |
void | operator= (const WLSCholesky &w) |
Matrix<-1, -1, RowMajor > & | get_C_inv () |
Returns the inverse covariance matrix. | |
const Matrix<-1, -1, RowMajor > & | get_C_inv () const |
Returns the inverse covariance matrix. | |
Vector<-1 > & | get_mu () |
const Vector<-1 > & | get_mu () const |
Vector<-1 > & | get_vector () |
const Vector<-1 > & | get_vector () const |
double | get_residual () |
void | add_extra (double e) |
double | get_extra () |
The | number of parameters in the system |
Definition at line 221 of file wls_cholesky.h.
TooN::WLSCholesky<-1 >::WLSCholesky | ( | const WLSCholesky<-1 > & | w | ) | [inline] |
Copy constructor
w | The decomposition object to copy |
Definition at line 234 of file wls_cholesky.h.
References TooN::WLSCholesky< Size >::my_C_inv, TooN::WLSCholesky< Size >::my_err, TooN::WLSCholesky< Size >::my_extra, and TooN::WLSCholesky< Size >::my_vector.
TooN::WLSCholesky<-1 >::WLSCholesky | ( | const WLSCholesky<-1 > & | w | ) | [inline] |
Copy constructor
w | The decomposition object to copy |
Definition at line 234 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::clear | ( | double | prior = 0 |
) | [inline] |
Clear all the measurements and apply a constant regularisation term. Equates to a prior that says all the parameters are zero with .
prior | The strength of the prior |
Definition at line 257 of file wls_cholesky.h.
References TooN::Identity().
void TooN::WLSCholesky<-1 >::add_prior | ( | double | val | ) | [inline] |
Applies a constant regularisation term. Equates to a prior that says all the parameters are zero with .
val | The strength of the prior |
Definition at line 269 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::add_prior | ( | double | val, | |
const FixedVector< N, Accessor > & | pos | |||
) | [inline] |
Applies a constant regularisation term about a non-zero postion Equates to a prior that says the parameters are equal to pos with .
val | The strength of the prior | |
pos | The position |
Definition at line 280 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::add_prior | ( | const FixedVector< N, Accessor > & | v | ) | [inline] |
Applies a regularisation term with a different strength for each parameter value. Equates to a prior that says all the parameters are zero with .
v | The vector of priors |
Definition at line 293 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::add_prior | ( | const FixedMatrix< N, N, Accessor > & | m | ) | [inline] |
Applies a whole-matrix regularisation term. This is the same as adding the to the inverse covariance matrix.
m | The inverse covariance matrix to add |
Definition at line 304 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::add_df | ( | double | m, | |
const FixedVector< N, Accessor > & | J, | |||
double | weight = 1 | |||
) | [inline] |
Add a single measurement
m | The value of the measurement | |
J | The Jacobian for the measurement ![]() | |
weight | The inverse variance of the measurement (default = 1) |
Definition at line 314 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::add_df | ( | double | m, | |
const DynamicVector< Accessor > & | J, | |||
double | weight = 1 | |||
) | [inline] |
Add a single measurement
m | The value of the measurement | |
J | The Jacobian for the measurement ![]() | |
weight | The inverse variance of the measurement (default = 1) |
Definition at line 331 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::add_df | ( | const FixedVector< N, Accessor1 > & | m, | |
const FixedMatrix< M, N, Accessor2 > & | J, | |||
const FixedMatrix< N, N, Accessor3 > & | invcov | |||
) | [inline] |
Add multiple measurements at once (much more efficiently)
N | The number of measurements | |
m | The measurements to add | |
J | The Jacobian matrix ![]() | |
invcov | The inverse covariance of the measurement values |
Definition at line 350 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::add_df | ( | const DynamicVector< Accessor1 > & | m, | |
const DynamicMatrix< Accessor2 > & | J, | |||
const DynamicMatrix< Accessor3 > & | invcov | |||
) | [inline] |
Add multiple measurements at once (much more efficiently)
N | The number of measurements | |
m | The measurements to add | |
J | The Jacobian matrix ![]() | |
invcov | The inverse covariance of the measurement values |
Definition at line 366 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::operator+= | ( | const WLSCholesky<-1 > & | meas | ) | [inline] |
Combine measurements from two WLS systems
meas | The measurements to combine with |
Definition at line 406 of file wls_cholesky.h.
References TooN::WLSCholesky< Size >::my_C_inv, TooN::WLSCholesky< Size >::my_err, TooN::WLSCholesky< Size >::my_extra, and TooN::WLSCholesky< Size >::my_vector.
void TooN::WLSCholesky<-1 >::operator= | ( | const WLSCholesky<-1 > & | w | ) | [inline] |
Copy measurements from another WLS system
w | The measurements to copy |
Definition at line 416 of file wls_cholesky.h.
References TooN::WLSCholesky< Size >::my_C_inv, TooN::WLSCholesky< Size >::my_err, TooN::WLSCholesky< Size >::my_extra, and TooN::WLSCholesky< Size >::my_vector.
void TooN::WLSCholesky<-1 >::clear | ( | double | prior = 0 |
) | [inline] |
Clear all the measurements and apply a constant regularisation term. Equates to a prior that says all the parameters are zero with .
prior | The strength of the prior |
Definition at line 257 of file wls_cholesky.h.
References TooN::Identity().
void TooN::WLSCholesky<-1 >::add_prior | ( | double | val | ) | [inline] |
Applies a constant regularisation term. Equates to a prior that says all the parameters are zero with .
val | The strength of the prior |
Definition at line 269 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::add_prior | ( | double | val, | |
const FixedVector< N, Accessor > & | pos | |||
) | [inline] |
Applies a constant regularisation term about a non-zero postion Equates to a prior that says the parameters are equal to pos with .
val | The strength of the prior | |
pos | The position |
Definition at line 280 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::add_prior | ( | const FixedVector< N, Accessor > & | v | ) | [inline] |
Applies a regularisation term with a different strength for each parameter value. Equates to a prior that says all the parameters are zero with .
v | The vector of priors |
Definition at line 293 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::add_prior | ( | const FixedMatrix< N, N, Accessor > & | m | ) | [inline] |
Applies a whole-matrix regularisation term. This is the same as adding the to the inverse covariance matrix.
m | The inverse covariance matrix to add |
Definition at line 304 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::add_df | ( | double | m, | |
const FixedVector< N, Accessor > & | J, | |||
double | weight = 1 | |||
) | [inline] |
Add a single measurement
m | The value of the measurement | |
J | The Jacobian for the measurement ![]() | |
weight | The inverse variance of the measurement (default = 1) |
Definition at line 314 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::add_df | ( | double | m, | |
const DynamicVector< Accessor > & | J, | |||
double | weight = 1 | |||
) | [inline] |
Add a single measurement
m | The value of the measurement | |
J | The Jacobian for the measurement ![]() | |
weight | The inverse variance of the measurement (default = 1) |
Definition at line 331 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::add_df | ( | const FixedVector< N, Accessor1 > & | m, | |
const FixedMatrix< M, N, Accessor2 > & | J, | |||
const FixedMatrix< N, N, Accessor3 > & | invcov | |||
) | [inline] |
Add multiple measurements at once (much more efficiently)
N | The number of measurements | |
m | The measurements to add | |
J | The Jacobian matrix ![]() | |
invcov | The inverse covariance of the measurement values |
Definition at line 350 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::add_df | ( | const DynamicVector< Accessor1 > & | m, | |
const DynamicMatrix< Accessor2 > & | J, | |||
const DynamicMatrix< Accessor3 > & | invcov | |||
) | [inline] |
Add multiple measurements at once (much more efficiently)
N | The number of measurements | |
m | The measurements to add | |
J | The Jacobian matrix ![]() | |
invcov | The inverse covariance of the measurement values |
Definition at line 366 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::operator+= | ( | const WLSCholesky<-1 > & | meas | ) | [inline] |
Combine measurements from two WLS systems
meas | The measurements to combine with |
Definition at line 406 of file wls_cholesky.h.
void TooN::WLSCholesky<-1 >::operator= | ( | const WLSCholesky<-1 > & | w | ) | [inline] |
Copy measurements from another WLS system
w | The measurements to copy |
Definition at line 416 of file wls_cholesky.h.