javaslam.filter
Interface ExtendedVectorFunction

All Superinterfaces:

VectorFunction

All Known Implementing Classes:

ExampleModel.InverseMeasurementModel, ExampleModel.LandmarkMeasurementModel, ExampleModel.MotionModel, ExampleModel.OdometryModel, LinearGaussianFunction

public interface ExtendedVectorFunction

extends VectorFunction

A vector-valued function that takes a vector input and which can compute its Jacobian at any input.

Method Summary

double[][]

jacobian(double[] input) Evaluates the Jacobian of this function at the supplied input.

Methods inherited from interface javaslam.filter.VectorFunction

evaluate, getInputDim, getOutputDim

Method Detail

jacobian

public double[][] jacobian(double[] input)

Evaluates the Jacobian of this function at the supplied input.

Parameters:

input - a vector with VectorFunction.getInputDim() elements

Returns:

a matrix with VectorFunction.getOutputDim() rows and VectorFunction.getInputDim() columns; if y = f(x) then element (i, j) is the partial derivative of y_i with respect to x_j at input