JacobianMatrixUtil Struct Reference

Collection of functions related to jacobian matrices. More...

#include <JacobianMatrixUtil.h>

Static Public Member Functions
template<unsigned int M, unsigned int N = M>
static JacobianMatrix< M, N >	zero ()
	Construct a zero matrix.
template<int M, int N = M>
static JacobianMatrix< M, N >	identity ()
	Construct a unit matrix.
template<int N>
static JacobianMatrix< N, N >	passiveRotation (int i, int j, double phi)
	Construct a passive rotation matrix around coordinates i and j.
template<int N>
static JacobianMatrix< N, N >	passiveRotation (int i, int j, const Vector2D &phiVec)
	Construct a passive rotation matrix around coordinates i and j.
template<int N>
static JacobianMatrix< N >	scale (const ParameterVector< N > &scales)
	Calculates the jacobian matrix for a scaling in each parameter.
template<int M1, int N1, int M2, int N2>
static JacobianMatrix< M1+M2, N1+N2 >	stackBlocks (const JacobianMatrix< M1, N1 > &block1, const JacobianMatrix< M2, N2 > &block2)
	Combines two jacobian matrices by putting them in two blocks diagonal to each other in a larger matrix.

Detailed Description

Collection of functions related to jacobian matrices.

Definition at line 27 of file JacobianMatrixUtil.h.

Member Function Documentation

identity()

template<int M, int N = M>

static JacobianMatrix< M, N > identity ( )

inlinestatic

Construct a unit matrix.

Definition at line 38 of file JacobianMatrixUtil.h.

      {
        return JacobianMatrix<M, N>::Identity();
      }

passiveRotation() [1/2]

template<int N>

static JacobianMatrix< N, N > passiveRotation ( int i, int j, const Vector2D & phiVec )

inlinestatic

Construct a passive rotation matrix around coordinates i and j.

Definition at line 52 of file JacobianMatrixUtil.h.

      {
        assert(i < N);
        assert(j < N);
        JacobianMatrix<N, N> result = identity<N>();
        result(i, i) = phiVec.x();
        result(i, j) = phiVec.y();
        result(j, i) = -phiVec.y();
        result(j, j) = phiVec.x();
        return result;
      }

passiveRotation() [2/2]

template<int N>

static JacobianMatrix< N, N > passiveRotation ( int i, int j, double phi )

inlinestatic

Construct a passive rotation matrix around coordinates i and j.

Definition at line 45 of file JacobianMatrixUtil.h.

      {
        return passiveRotation<N>(i, j, Vector2D::Phi(phi));
      }

scale()

template<int N>

static JacobianMatrix< N > scale ( const ParameterVector< N > & scales )

inlinestatic

Calculates the jacobian matrix for a scaling in each parameter.

Definition at line 66 of file JacobianMatrixUtil.h.

      {
        JacobianMatrix<N> result = zero<N>();
        mapToEigen(result).diagonal() = mapToEigen(scales);
        return result;
      }

stackBlocks()

template<int M1, int N1, int M2, int N2>

static JacobianMatrix< M1+M2, N1+N2 > stackBlocks ( const JacobianMatrix< M1, N1 > & block1, const JacobianMatrix< M2, N2 > & block2 )

inlinestatic

Combines two jacobian matrices by putting them in two blocks diagonal to each other in a larger matrix.

Definition at line 76 of file JacobianMatrixUtil.h.

      {
        JacobianMatrix < M1 + M2, N1 + N2 > result;
        mapToEigen(result) << mapToEigen(block1), Eigen::Matrix<double, M1, N2>::Zero(),
                   Eigen::Matrix<double, M2, N1>::Zero(), mapToEigen(block2);
        return result;
      }

zero()

template<unsigned int M, unsigned int N = M>

static JacobianMatrix< M, N > zero ( )

inlinestatic

Construct a zero matrix.

Definition at line 31 of file JacobianMatrixUtil.h.

      {
        return JacobianMatrix<M, N>::Zero();
      }

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

• tracking/trackFindingCDC/numerics/include/JacobianMatrixUtil.h