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, 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_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]