69 lines
2.9 KiB
C++
69 lines
2.9 KiB
C++
/**
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BSD 3-Clause License
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This file is part of the Basalt project.
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https://gitlab.com/VladyslavUsenko/basalt.git
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Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#pragma once
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#include <Eigen/Dense>
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#include <set>
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namespace basalt {
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template <class Scalar_>
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class MargHelper {
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public:
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using Scalar = Scalar_;
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using MatX = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>;
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using VecX = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>;
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// Modifies abs_H and abs_b as a side effect.
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static void marginalizeHelperSqToSq(MatX& abs_H, VecX& abs_b,
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const std::set<int>& idx_to_keep,
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const std::set<int>& idx_to_marg,
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MatX& marg_H, VecX& marg_b);
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// Modifies abs_H and abs_b as a side effect.
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static void marginalizeHelperSqToSqrt(MatX& abs_H, VecX& abs_b,
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const std::set<int>& idx_to_keep,
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const std::set<int>& idx_to_marg,
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MatX& marg_sqrt_H, VecX& marg_sqrt_b);
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// Modifies Q2Jp and Q2r as a side effect.
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static void marginalizeHelperSqrtToSqrt(MatX& Q2Jp, VecX& Q2r,
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const std::set<int>& idx_to_keep,
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const std::set<int>& idx_to_marg,
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MatX& marg_sqrt_H, VecX& marg_sqrt_b);
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};
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} // namespace basalt
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