PartialPriorFactor.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 
18 #pragma once
19 
21 #include <gtsam/base/Lie.h>
22 
23 namespace gtsam {
24 
37  template<class VALUE>
38  class PartialPriorFactor: public NoiseModelFactorN<VALUE> {
39 
40  public:
41  typedef VALUE T;
42 
43  protected:
44  // Concept checks on the variable type - currently requires Lie
46 
49 
51  std::vector<size_t> indices_;
52 
58  : Base(model, key) {}
59 
60  public:
61 
62  // Provide access to the Matrix& version of evaluateError:
63  using Base::evaluateError;
64 
67 
69  PartialPriorFactor(Key key, size_t idx, double prior, const SharedNoiseModel& model) :
70  Base(model, key),
71  prior_((Vector(1) << prior).finished()),
72  indices_(1, idx) {
73  assert(model->dim() == 1);
74  }
75 
77  PartialPriorFactor(Key key, const std::vector<size_t>& indices, const Vector& prior,
78  const SharedNoiseModel& model) :
79  Base(model, key),
80  prior_(prior),
81  indices_(indices) {
82  assert((size_t)prior_.size() == indices_.size());
83  assert(model->dim() == (size_t)prior.size());
84  }
85 
86  ~PartialPriorFactor() override {}
87 
90  return std::static_pointer_cast<gtsam::NonlinearFactor>(
92 
96  void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
97  Base::print(s, keyFormatter);
98  gtsam::print(prior_, "prior");
99  }
100 
102  bool equals(const NonlinearFactor& expected, double tol=1e-9) const override {
103  const This *e = dynamic_cast<const This*> (&expected);
104  return e != nullptr && Base::equals(*e, tol) &&
105  gtsam::equal_with_abs_tol(this->prior_, e->prior_, tol) &&
106  this->indices_ == e->indices_;
107  }
108 
112  Vector evaluateError(const T& p, OptionalMatrixType H) const override {
114 
115  // If the Rot3 Cayley map is used, Rot3::LocalCoordinates will throw a runtime error
116  // when asked to compute the Jacobian matrix (see Rot3M.cpp).
117  #ifdef GTSAM_ROT3_EXPMAP
118  const Vector full_tangent = T::LocalCoordinates(p, H ? &H_local : nullptr);
119  #else
120  const Vector full_tangent = T::Logmap(p, H ? &H_local : nullptr);
121  #endif
122 
123  if (H) {
124  (*H) = Matrix::Zero(indices_.size(), T::dimension);
125  for (size_t i = 0; i < indices_.size(); ++i) {
126  (*H).row(i) = H_local.row(indices_.at(i));
127  }
128  }
129  // Select relevant parameters from the tangent vector.
130  Vector partial_tangent = Vector::Zero(indices_.size());
131  for (size_t i = 0; i < indices_.size(); ++i) {
132  partial_tangent(i) = full_tangent(indices_.at(i));
133  }
134 
135  return partial_tangent - prior_;
136  }
137 
138  // access
139  const Vector& prior() const { return prior_; }
140  const std::vector<size_t>& indices() const { return indices_; }
141 
142  private:
143 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
144 
145  friend class boost::serialization::access;
146  template<class ARCHIVE>
147  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
148  // NoiseModelFactor1 instead of NoiseModelFactorN for backward compatibility
149  ar & boost::serialization::make_nvp("NoiseModelFactor1",
150  boost::serialization::base_object<Base>(*this));
151  ar & BOOST_SERIALIZATION_NVP(prior_);
152  ar & BOOST_SERIALIZATION_NVP(indices_);
153  // ar & BOOST_SERIALIZATION_NVP(H_);
154  }
155 #endif
156  }; // \class PartialPriorFactor
157 
158 }
H
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Definition: gnuplot_common_settings.hh:74
gtsam::NonlinearFactor::shared_ptr
std::shared_ptr< This > shared_ptr
Definition: NonlinearFactor.h:78
gtsam::PartialPriorFactor::indices_
std::vector< size_t > indices_
Indices of the measured tangent space parameters.
Definition: PartialPriorFactor.h:51
gtsam::PartialPriorFactor::~PartialPriorFactor
~PartialPriorFactor() override
Definition: PartialPriorFactor.h:86
gtsam::PartialPriorFactor::equals
bool equals(const NonlinearFactor &expected, double tol=1e-9) const override
Definition: PartialPriorFactor.h:102
s
RealScalar s
Definition: level1_cplx_impl.h:126
e
Array< double, 1, 3 > e(1./3., 0.5, 2.)
gtsam::PartialPriorFactor::PartialPriorFactor
PartialPriorFactor(Key key, size_t idx, double prior, const SharedNoiseModel &model)
Definition: PartialPriorFactor.h:69
gtsam::PartialPriorFactor::print
void print(const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
Definition: PartialPriorFactor.h:96
gtsam::NoiseModelFactorN< VALUE >::evaluateError
virtual Vector evaluateError(const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0
gtsam::equal_with_abs_tol
bool equal_with_abs_tol(const Eigen::DenseBase< MATRIX > &A, const Eigen::DenseBase< MATRIX > &B, double tol=1e-9)
Definition: base/Matrix.h:80
gtsam::Factor
Definition: Factor.h:70
gtsam::Vector
Eigen::VectorXd Vector
Definition: Vector.h:38
gtsam::PartialPriorFactor::This
PartialPriorFactor< VALUE > This
Definition: PartialPriorFactor.h:48
gtsam::DefaultKeyFormatter
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
Definition: Key.cpp:30
GTSAM_CONCEPT_LIE_TYPE
#define GTSAM_CONCEPT_LIE_TYPE(T)
Definition: Lie.h:373
Eigen::internal::VALUE
@ VALUE
Definition: SpecialFunctionsImpl.h:729
gtsam::PartialPriorFactor::prior_
Vector prior_
Measurement on tangent space parameters, in compressed form.
Definition: PartialPriorFactor.h:50
gtsam::print
void print(const Matrix &A, const string &s, ostream &stream)
Definition: Matrix.cpp:155
gtsam::KeyFormatter
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition: Key.h:35
gtsam::NoiseModelFactorN
Definition: NonlinearFactor.h:431
gtsam::NoiseModelFactor::print
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
Definition: NonlinearFactor.cpp:72
cholesky::expected
Matrix expected
Definition: testMatrix.cpp:971
gtsam::NoiseModelFactor::equals
bool equals(const NonlinearFactor &f, double tol=1e-9) const override
Definition: NonlinearFactor.cpp:80
gtsam::SharedNoiseModel
noiseModel::Base::shared_ptr SharedNoiseModel
Definition: NoiseModel.h:762
gtsam::PartialPriorFactor::PartialPriorFactor
PartialPriorFactor()
Definition: PartialPriorFactor.h:66
model
noiseModel::Diagonal::shared_ptr model
Definition: doc/Code/Pose2SLAMExample.cpp:7
gtsam::PartialPriorFactor::PartialPriorFactor
PartialPriorFactor(Key key, const std::vector< size_t > &indices, const Vector &prior, const SharedNoiseModel &model)
Definition: PartialPriorFactor.h:77
gtsam::PoseRTV
Definition: PoseRTV.h:23
NonlinearFactor.h
Non-linear factor base classes.
gtsam::PartialPriorFactor::prior
const Vector & prior() const
Definition: PartialPriorFactor.h:139
Lie.h
Base class and basic functions for Lie types.
gtsam
traits
Definition: SFMdata.h:40
gtsam::PartialPriorFactor::T
VALUE T
Definition: PartialPriorFactor.h:41
gtsam::PartialPriorFactor::evaluateError
Vector evaluateError(const T &p, OptionalMatrixType H) const override
Definition: PartialPriorFactor.h:112
std
Definition: BFloat16.h:88
gtsam::NonlinearFactor
Definition: NonlinearFactor.h:68
p
float * p
Definition: Tutorial_Map_using.cpp:9
gtsam::tol
const G double tol
Definition: Group.h:79
gtsam::OptionalMatrixType
Matrix * OptionalMatrixType
Definition: NonlinearFactor.h:55
Eigen::Matrix
The matrix class, also used for vectors and row-vectors.
Definition: 3rdparty/Eigen/Eigen/src/Core/Matrix.h:178
gtsam::NoiseModelFactorN< VALUE >::key
Key key() const
Definition: NonlinearFactor.h:582
gtsam::PartialPriorFactor::clone
gtsam::NonlinearFactor::shared_ptr clone() const override
Definition: PartialPriorFactor.h:89
gtsam::Key
std::uint64_t Key
Integer nonlinear key type.
Definition: types.h:97
i
int i
Definition: BiCGSTAB_step_by_step.cpp:9
gtsam::PartialPriorFactor
Definition: PartialPriorFactor.h:38
gtsam::PartialPriorFactor::indices
const std::vector< size_t > & indices() const
Definition: PartialPriorFactor.h:140


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