PrecisionMatrixUtil Struct Reference

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

#include <PrecisionMatrixUtil.h>

Static Public Member Functions
template<int N>
static PrecisionMatrix< N >	identity ()
	Constructs an identity matrix.
template<int N>
static void	transport (const JacobianMatrix< N, N > &ambiguity, PrecisionMatrix< N > &precision)
	Transport the precision matrix inplace with the given jacobian matrix.
template<int M, int N>
static PrecisionMatrix< M >	transported (const JacobianMatrix< N, M > &ambiguity, const PrecisionMatrix< N > &precision)
	Return a copy of the precision matrix transported with the given back projection jacobian matrix.
template<int N>
static void	scale (const ParameterVector< N > &scales, PrecisionMatrix< N > &precision)
	Scale the precision inplace by the given factors in each parameter.
template<int N>
static PrecisionMatrix< N >	scale (const ParameterVector< N > &scales, const PrecisionMatrix< N > &precision)
	Return a copy of the precision scaled by the given factors in each parameter.
template<int N1, int N2>
static PrecisionMatrix< N1+N2 >	stackBlocks (const PrecisionMatrix< N1 > &block1, const PrecisionMatrix< N2 > &block2)
	Combines two precision matrices by putting them in two blocks on the diagonal of a larger matrix.
template<class APrecisionMatrix , int I = 0, int N = 0>
static APrecisionMatrix	getSub (const PrecisionMatrix< N > &precision)
	Gets a subprecision from a precision matrix.
template<int N>
static double	average (const ParameterVector< N > &parameter1, const PrecisionMatrix< N > &precision1, const ParameterVector< N > &parameter2, const PrecisionMatrix< N > &precision2, ParameterVector< N > &parameter, PrecisionMatrix< N > &precision)
	Averages two parameter vectors taking into account their respective precision. More...
template<int M, int N1, int N2>
static double	average (const ParameterVector< N1 > &parameter1, const PrecisionMatrix< N1 > &precision1, const JacobianMatrix< N1, M > &ambiguity1, const ParameterVector< N2 > &parameter2, const PrecisionMatrix< N2 > &precision2, const JacobianMatrix< N2, M > &ambiguity2, ParameterVector< M > &parameter, PrecisionMatrix< M > &precision)
	Averages two parameter vectors from a projected space taking into account their respective precisions and ambiguity matrices. More...

Detailed Description

Collection of functions related to precision matrices.

Definition at line 30 of file PrecisionMatrixUtil.h.

Member Function Documentation

average() [1/2]

static double average ( const ParameterVector< N > &  parameter1, const PrecisionMatrix< N > &  precision1, const ParameterVector< N > &  parameter2, const PrecisionMatrix< N > &  precision2, ParameterVector< N > &  parameter, PrecisionMatrix< N > &  precision  )

inlinestatic

Averages two parameter vectors taking into account their respective precision.

Parameters

	parameter1	First parameters
	precision1	Precision matrix to the first parameters
	parameter2	Second parameters
	precision2	Precision matrix to the second parameters
[out]	parameter	Averaged parameters
[out]	precision	Averaged precision matrix

Returns

Chi square deviation of orignal parameters to the average

Definition at line 104 of file PrecisionMatrixUtil.h.

      {
        const auto& ePrecision1 = mapToEigen(precision1);
        const auto& ePrecision2 = mapToEigen(precision2);
        auto&& ePrecision = mapToEigen(precision);
 
        const auto& eParameter1 = mapToEigen(parameter1);
        const auto& eParameter2 = mapToEigen(parameter2);
        auto&& eParameter = mapToEigen(parameter);
 
        ePrecision = ePrecision1 + ePrecision2;
        eParameter = ePrecision.colPivHouseholderQr().solve(ePrecision1 * eParameter1 +
                                                            ePrecision2 * eParameter2);
 
        auto eResidual1 = eParameter1 - eParameter;
        auto eResidual2 = eParameter2 - eParameter;
 
        Eigen::Matrix<double, 1, 1> chi2 = (eResidual1.transpose() * ePrecision1 * eResidual1 +
                                            eResidual2.transpose() * ePrecision2 * eResidual2);
        return chi2[0];
      }

average() [2/2]

static double average ( const ParameterVector< N1 > &  parameter1, const PrecisionMatrix< N1 > &  precision1, const JacobianMatrix< N1, M > &  ambiguity1, const ParameterVector< N2 > &  parameter2, const PrecisionMatrix< N2 > &  precision2, const JacobianMatrix< N2, M > &  ambiguity2, ParameterVector< M > &  parameter, PrecisionMatrix< M > &  precision  )

inlinestatic

Averages two parameter vectors from a projected space taking into account their respective precisions and ambiguity matrices.

Parameters

	parameter1	First parameters
	precision1	Precision matrix to the first parameters
	ambiguity1	Projection ambiguity of the first parameters
	parameter2	Second parameters
	precision2	Precision matrix to the second parameters
	ambiguity2	Projection ambiguity of the second parameters
[out]	parameter	Averaged parameters
[out]	precision	Averaged precision matrix

Returns

Chi square deviation of original parameters to the average

Definition at line 146 of file PrecisionMatrixUtil.h.

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

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