def _setup_covariance_matrix(self, fisher_matrix):
self._covariance_matrix = ci.solve( \
fisher_matrix, \
ci.mx_eye(fisher_matrix.shape[0]), \
"csparse")
def _setup_covariance_matrix(self, fisher_matrix):
self._covariance_matrix = ci.solve( \
fisher_matrix, \
ci.mx_eye(fisher_matrix.shape[0]), \
"csparse")
def _setup_fisher_matrix(self):
self._fisher_matrix = self._fisher_matrix_A - ci.mul([ \
self._fisher_matrix_B.T, \
ci.solve(self._fisher_matrix_C, \
self._fisher_matrix_B, \
"csparse")])
def _setup_covariance_matrix(self, kkt_matrix, \
number_of_unknown_parameters):
I = ci.mx_eye(number_of_unknown_parameters)
O = ci.mx(kkt_matrix.shape[0] - number_of_unknown_parameters, \
number_of_unknown_parameters)
Z_p = ci.vertcat([I, O])
self._covariance_matrix = ci.solve(kkt_matrix, Z_p, "csparse")[ \
:number_of_unknown_parameters, :number_of_unknown_parameters]
def _setup_fisher_matrix(self):
self._fisher_matrix = self._fisher_matrix_A - ci.mul([ \
self._fisher_matrix_B.T, \
ci.solve(self._fisher_matrix_C, \
self._fisher_matrix_B, \
"csparse")])
def _setup_covariance_matrix(self, kkt_matrix, \
number_of_unknown_parameters):
I = ci.mx_eye(number_of_unknown_parameters)
O = ci.mx(kkt_matrix.shape[0] - number_of_unknown_parameters, \
number_of_unknown_parameters)
Z_p = ci.vertcat([I,O])
self._covariance_matrix = ci.solve(kkt_matrix, Z_p, "csparse")[ \
:number_of_unknown_parameters, :number_of_unknown_parameters]