#include <TrajectoryStateSoAT.h>

Public Types
using	Matrix5d = Eigen::Matrix< double, 5, 5 >

using	Vector15f = Eigen::Matrix< float, 15, 1 >

using	Vector5d = Eigen::Matrix< double, 5, 1 >

using	Vector5f = Eigen::Matrix< float, 5, 1 >

Public Member Functions
template<typename V3 , typename M3 , typename V2 , typename M2 >
__host__ __device__ void	copyFromCircle (V3 const &cp, M3 const &ccov, V2 const &lp, M2 const &lcov, float b, int32_t i)

template<typename V5 , typename M5 >
__host__ __device__ void	copyFromDense (V5 const &v, M5 const &cov, int32_t i)

template<typename V5 , typename M5 >
__host__ __device__ void	copyToDense (V5 &v, M5 &cov, int32_t i) const

Static Public Member Functions
static constexpr int32_t	stride ()

Public Attributes
eigenSoA::MatrixSoA< Vector15f, S >	covariance

eigenSoA::MatrixSoA< Vector5f, S >	state

Detailed Description

template<int32_t S>
struct TrajectoryStateSoAT< S >

Definition at line 8 of file TrajectoryStateSoAT.h.

Member Typedef Documentation

template<int32_t S>

using TrajectoryStateSoAT< S >::Matrix5d = Eigen::Matrix<double, 5, 5>

Definition at line 13 of file TrajectoryStateSoAT.h.

template<int32_t S>

using TrajectoryStateSoAT< S >::Vector15f = Eigen::Matrix<float, 15, 1>

Definition at line 10 of file TrajectoryStateSoAT.h.

template<int32_t S>

using TrajectoryStateSoAT< S >::Vector5d = Eigen::Matrix<double, 5, 1>

Definition at line 12 of file TrajectoryStateSoAT.h.

template<int32_t S>

using TrajectoryStateSoAT< S >::Vector5f = Eigen::Matrix<float, 5, 1>

Definition at line 9 of file TrajectoryStateSoAT.h.

Member Function Documentation

template<int32_t S>

template<typename V3 , typename M3 , typename V2 , typename M2 >

__host__ __device__ void TrajectoryStateSoAT< S >::copyFromCircle	(	V3 const &	cp,
		M3 const &	ccov,
		V2 const &	lp,
		M2 const &	lcov,
		float	b,
		int32_t	i
	)

inline

Definition at line 21 of file TrajectoryStateSoAT.h.

References TrajectoryStateSoAT< S >::covariance, and TrajectoryStateSoAT< S >::state.

                                                                                       {
     state(i) << cp.template cast<float>(), lp.template cast<float>();
     state(i)(2) *= b;
     auto cov = covariance(i);
     cov(0) = ccov(0, 0);
     cov(1) = ccov(0, 1);
     cov(2) = b * float(ccov(0, 2));
     cov(4) = cov(3) = 0;
     cov(5) = ccov(1, 1);
     cov(6) = b * float(ccov(1, 2));
     cov(8) = cov(7) = 0;
     cov(9) = b * b * float(ccov(2, 2));
     cov(11) = cov(10) = 0;
     cov(12) = lcov(0, 0);
     cov(13) = lcov(0, 1);
     cov(14) = lcov(1, 1);
   }

template<int32_t S>

template<typename V5 , typename M5 >

__host__ __device__ void TrajectoryStateSoAT< S >::copyFromDense	(	V5 const &	v,
		M5 const &	cov,
		int32_t	i
	)

inline

Definition at line 41 of file TrajectoryStateSoAT.h.

References TrajectoryStateSoAT< S >::covariance, dqmiolumiharvest::j, isotrackApplyRegressor::k, and TrajectoryStateSoAT< S >::state.

                                                                                        {
     state(i) = v.template cast<float>();
     for (int j = 0, ind = 0; j < 5; ++j)
       for (auto k = j; k < 5; ++k)
         covariance(i)(ind++) = cov(j, k);
   }

template<int32_t S>

template<typename V5 , typename M5 >

__host__ __device__ void TrajectoryStateSoAT< S >::copyToDense	(	V5 &	v,
		M5 &	cov,
		int32_t	i
	)		const

inline

Definition at line 49 of file TrajectoryStateSoAT.h.

References TrajectoryStateSoAT< S >::covariance, dqmiolumiharvest::j, isotrackApplyRegressor::k, and TrajectoryStateSoAT< S >::state.

                                                                                {
     v = state(i).template cast<typename V5::Scalar>();
     for (int j = 0, ind = 0; j < 5; ++j) {
       cov(j, j) = covariance(i)(ind++);
       for (auto k = j + 1; k < 5; ++k)
         cov(k, j) = cov(j, k) = covariance(i)(ind++);
     }
   }