javaslam.util
Class TJTF

java.lang.Object
  |
  +--javaslam.util.TJTF

public class TJTF

extends Object

A class containing package-level utilities.

Field Summary

static boolean	blather A flag indicating whether mundane status messages should be displayed.
static boolean	debug A flag indicating whether special (expensive) checks should be made to ensure that everything is operating correctly.
static boolean	verbose A flag indicating whether routine status messages should be displayed.

Constructor Summary

TJTF()

Method Summary

static void	regularize(Matrix C, double cond) Regularizes a covariance matrix so that its condition number is no greater than a specified value.
static void	say(String s) A method that reports a message.
static void	setBlather(boolean on) Determines whether mundane status messages should be displayed.
static void	setDebug(boolean on) Determines whether special (expensive) checks should be made to ensure that everything is operating correctly.
static void	setVerbose(boolean on) Determines whether routine status messages should be displayed.
static Matrix	symmetrize(Matrix m) Transforms an asymmetric matrix M into a symmetric matrix by setting it to (M + MT)/2.
static String	toString(Matrix m) Creates a Matlab string representation of a matrix.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

verbose

public static boolean verbose

A flag indicating whether routine status messages should be displayed.

blather

public static boolean blather

A flag indicating whether mundane status messages should be displayed.

debug

public static boolean debug

A flag indicating whether special (expensive) checks should be made to ensure that everything is operating correctly.

Constructor Detail

TJTF

public TJTF()

Method Detail

setVerbose

public static void setVerbose(boolean on)

Determines whether routine status messages should be displayed.

Parameters:

on - the new value

setBlather

public static void setBlather(boolean on)

Determines whether mundane status messages should be displayed.

Parameters:

on - the new value

setDebug

public static void setDebug(boolean on)

Determines whether special (expensive) checks should be made to ensure that everything is operating correctly.

Parameters:

on - the new value

say

public static void say(String s)

A method that reports a message.

Parameters:

s - the message to be reported

toString

public static String toString(Matrix m)

Creates a Matlab string representation of a matrix.

Parameters:

m - the matrix

Returns:

a string representing m in Matlab format

symmetrize

public static Matrix symmetrize(Matrix m)

Transforms an asymmetric matrix M into a symmetric matrix by setting it to (M + M^T)/2. If M is positive definite, then this method will not alter its eigensystem.

regularize

public static void regularize(Matrix C,
                              double cond)

Regularizes a covariance matrix so that its condition number is no greater than a specified value. This is accomplished by adding in a small multiple of the identity matrix.

Parameters:

C - the covariance matrix

cond - the maximum tolerable condition number