KarcherMeanFactor.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
12 /*
13  * @file KarcherMeanFactor.h
14  * @author Frank Dellaert
15  * @date March 2019
16  */
17 
18 #pragma once
19 
20 #include <gtsam/base/Matrix.h>
22 
23 #include <map>
24 #include <vector>
25 #include <optional>
26 
27 namespace gtsam {
33 template <class T>
34 T FindKarcherMean(const std::vector<T, Eigen::aligned_allocator<T>> &rotations);
35 
36 template <class T> T FindKarcherMean(std::initializer_list<T> &&rotations);
37 
46 template <class T> class KarcherMeanFactor : public NonlinearFactor {
47  // Compile time dimension: can be -1
48  enum { D = traits<T>::dimension };
49 
50  // Runtime dimension: always >=0
51  size_t d_;
52 
54  std::shared_ptr<JacobianFactor> whitenedJacobian_;
55 
56 public:
62  template <typename CONTAINER>
63  KarcherMeanFactor(const CONTAINER &keys, int d = D,
64  std::optional<double> beta = {});
65 
67  ~KarcherMeanFactor() override {}
68 
70  double error(const Values &c) const override { return 0; }
71 
73  size_t dim() const override { return d_; }
74 
76  std::shared_ptr<GaussianFactor> linearize(const Values &c) const override {
77  return whitenedJacobian_;
78  }
79 };
80 // \KarcherMeanFactor
81 } // namespace gtsam
d
static const double d[K][N]
Definition: igam.h:11
c
Scalar Scalar * c
Definition: benchVecAdd.cpp:17
Matrix.h
typedef and functions to augment Eigen's MatrixXd
gtsam::FindKarcherMean
T FindKarcherMean(const std::vector< T > &rotations)
Definition: KarcherMeanFactor-inl.h:45
gtsam::KarcherMeanFactor::whitenedJacobian_
std::shared_ptr< JacobianFactor > whitenedJacobian_
Constant Jacobian made of d*d identity matrices.
Definition: KarcherMeanFactor.h:54
beta
double beta(double a, double b)
Definition: beta.c:61
gtsam::KarcherMeanFactor
Definition: KarcherMeanFactor.h:46
gtsam::KarcherMeanFactor::~KarcherMeanFactor
~KarcherMeanFactor() override
Destructor.
Definition: KarcherMeanFactor.h:67
Eigen::aligned_allocator
STL compatible allocator to use with types requiring a non standrad alignment.
Definition: Memory.h:878
gtsam::KarcherMeanFactor::error
double error(const Values &c) const override
Calculate the error of the factor: always zero.
Definition: KarcherMeanFactor.h:70
Eigen::Triplet
A small structure to hold a non zero as a triplet (i,j,value).
Definition: SparseUtil.h:162
gtsam::KarcherMeanFactor::D
@ D
Definition: KarcherMeanFactor.h:48
JacobianFactor.h
gtsam
traits
Definition: SFMdata.h:40
gtsam::traits
Definition: Group.h:36
gtsam::Values
Definition: Values.h:65
gtsam::Factor::keys
const KeyVector & keys() const
Access the factor's involved variable keys.
Definition: Factor.h:143
gtsam::KarcherMeanFactor::KarcherMeanFactor
KarcherMeanFactor(const CONTAINER &keys, int d=D, std::optional< double > beta={})
Definition: KarcherMeanFactor-inl.h:61
gtsam::NonlinearFactor
Definition: NonlinearFactor.h:68
gtsam::KarcherMeanFactor::d_
size_t d_
Definition: KarcherMeanFactor.h:51
gtsam::KarcherMeanFactor::dim
size_t dim() const override
get the dimension of the factor (number of rows on linearization)
Definition: KarcherMeanFactor.h:73
gtsam::KarcherMeanFactor::linearize
std::shared_ptr< GaussianFactor > linearize(const Values &c) const override
linearize to a GaussianFactor
Definition: KarcherMeanFactor.h:76


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