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50 _linearInequalities) {
54 void print(
const std::string&
s =
"") {
55 std::cout <<
s << std::endl;
Linear Factor Graph where all factors are Gaussians.
Factor graph of all LinearEquality factors.
QP(const GaussianFactorGraph &_cost, const EqualityFactorGraph &_linearEqualities, const InequalityFactorGraph &_linearInequalities)
virtual void print(const std::string &s="FactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const
Print out graph to std::cout, with optional key formatter.
Factor graph of all LinearInequality factors.
VariableIndex cachedCostVariableIndex_
Vector costGradient(Key key, const VectorValues &delta) const
const VariableIndex & costVariableIndex() const
InequalityFactorGraph inequalities
linear inequality constraints: cI(x) <= 0
const sharedFactor at(size_t i) const
utility functions for loading datasets
std::shared_ptr< This > shared_ptr
shared_ptr to this class
EqualityFactorGraph equalities
linear equality constraints: cE(x) = 0
void print(const std::string &str="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
void g(const string &key, int i)
void print(const std::string &s="")
const gtsam::Symbol key('X', 0)
size_t size() const
The number of variable entries. This is equal to the number of unique variable Keys.
static const EIGEN_DEPRECATED end_t end
std::uint64_t Key
Integer nonlinear key type.
GaussianFactorGraph cost
Quadratic cost factors.
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:34:49