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whitenInPlace

release/4.3a0
dellaert 2015-02-22 21:50:58 +01:00
parent 81538aac55
commit c2feb239fb
2 changed files with 6 additions and 0 deletions
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5
gtsam/linear/NoiseModel.cpp
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@ -514,6 +514,11 @@ void Isotropic::WhitenInPlace(Matrix& H) const {
H *= invsigma_; H *= invsigma_;
} }
/* ************************************************************************* */
void Isotropic::whitenInPlace(Vector& v) const {
v *= invsigma_;
}
/* ************************************************************************* */ /* ************************************************************************* */
void Isotropic::WhitenInPlace(Eigen::Block<Matrix> H) const { void Isotropic::WhitenInPlace(Eigen::Block<Matrix> H) const {
H *= invsigma_; H *= invsigma_;

1
gtsam/linear/NoiseModel.h
View File

@ -545,6 +545,7 @@ namespace gtsam {
virtual Vector unwhiten(const Vector& v) const; virtual Vector unwhiten(const Vector& v) const;
virtual Matrix Whiten(const Matrix& H) const; virtual Matrix Whiten(const Matrix& H) const;
virtual void WhitenInPlace(Matrix& H) const; virtual void WhitenInPlace(Matrix& H) const;
virtual void whitenInPlace(Vector& v) const;
virtual void WhitenInPlace(Eigen::Block<Matrix> H) const; virtual void WhitenInPlace(Eigen::Block<Matrix> H) const;
/** /**