#include <BetweenFactorEM.h>

Inheritance diagram for gtsam::BetweenFactorEM< VALUE >:

Public Types
typedef std::shared_ptr< BetweenFactorEM >	shared_ptr

typedef VALUE	T

Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::Factor
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys. More...

typedef KeyVector::iterator	iterator
	Iterator over keys. More...

Public Member Functions
	BetweenFactorEM ()

	BetweenFactorEM (Key key1, Key key2, const VALUE &measured, const SharedGaussian &model_inlier, const SharedGaussian &model_outlier, const double prior_inlier, const double prior_outlier, const bool flag_bump_up_near_zero_probs=false)

Vector	calcIndicatorProb (const Values &x) const

size_t	dim () const override

bool	equals (const NonlinearFactor &f, double tol=1e-9) const override

double	error (const Values &x) const override

bool	get_flag_bump_up_near_zero_probs () const

SharedGaussian	get_model_inlier () const

Matrix	get_model_inlier_cov () const

SharedGaussian	get_model_outlier () const

Matrix	get_model_outlier_cov () const

std::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

const VALUE &	measured () const

void	print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

void	set_flag_bump_up_near_zero_probs (bool flag)

Vector	unwhitenedError (const Values &x) const

void	updateNoiseModels (const Values &values, const NonlinearFactorGraph &graph)

void	updateNoiseModels_givenCovs (const Values &values, const Matrix &cov1, const Matrix &cov2, const Matrix &cov12)

Vector	whitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const

Vector	whitenedError (const Values &x, std::vector< Matrix > &H) const

	~BetweenFactorEM () override

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)

double	error (const HybridValues &c) const override

virtual bool	active (const Values &) const

virtual shared_ptr	clone () const

virtual shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const

virtual shared_ptr	rekey (const KeyVector &new_keys) const

virtual bool	sendable () const

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor. More...

bool	empty () const
	Whether the factor is empty (involves zero variables). More...

Key	front () const
	First key. More...

Key	back () const
	Last key. More...

const_iterator	find (Key key) const
	find More...

const KeyVector &	keys () const
	Access the factor's involved variable keys. More...

const_iterator	begin () const

const_iterator	end () const

size_t	size () const

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys More...

bool	equals (const This &other, double tol=1e-9) const
	check equality More...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Private Types
typedef NonlinearFactor	Base

typedef BetweenFactorEM< VALUE >	This

Private Attributes
bool	flag_bump_up_near_zero_probs_

Key	key1_

Key	key2_

VALUE	measured_

SharedGaussian	model_inlier_

SharedGaussian	model_outlier_

double	prior_inlier_

double	prior_outlier_

Additional Inherited Members
Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

Protected Member Functions inherited from gtsam::Factor
	Factor ()

template<typename CONTAINER >
	Factor (const CONTAINER &keys)

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)

Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Detailed Description

template<class VALUE>
class gtsam::BetweenFactorEM< VALUE >

A class for a measurement predicted by "between(config[key1],config[key2])"

Template Parameters

VALUE the Value type

Definition at line 34 of file BetweenFactorEM.h.

Member Typedef Documentation

◆ Base

template<class VALUE >

typedef NonlinearFactor gtsam::BetweenFactorEM< VALUE >::Base

private

Definition at line 43 of file BetweenFactorEM.h.

◆ shared_ptr

template<class VALUE >

typedef std::shared_ptr<BetweenFactorEM> gtsam::BetweenFactorEM< VALUE >::shared_ptr

concept check by type

Definition at line 65 of file BetweenFactorEM.h.

◆ T

template<class VALUE >

typedef VALUE gtsam::BetweenFactorEM< VALUE >::T

Definition at line 38 of file BetweenFactorEM.h.

◆ This

template<class VALUE >

typedef BetweenFactorEM<VALUE> gtsam::BetweenFactorEM< VALUE >::This

private

Definition at line 42 of file BetweenFactorEM.h.

Constructor & Destructor Documentation

◆ BetweenFactorEM() [1/2]

template<class VALUE >

gtsam::BetweenFactorEM< VALUE >::BetweenFactorEM ( )

inline

default constructor - only use for serialization

Definition at line 68 of file BetweenFactorEM.h.

◆ BetweenFactorEM() [2/2]

template<class VALUE >

gtsam::BetweenFactorEM< VALUE >::BetweenFactorEM	(	Key	key1,
		Key	key2,
		const VALUE &	measured,
		const SharedGaussian &	model_inlier,
		const SharedGaussian &	model_outlier,
		const double	prior_inlier,
		const double	prior_outlier,
		const bool	flag_bump_up_near_zero_probs = `false`
	)

inline

Constructor

Definition at line 72 of file BetweenFactorEM.h.

◆ ~BetweenFactorEM()

template<class VALUE >

gtsam::BetweenFactorEM< VALUE >::~BetweenFactorEM ( )

inlineoverride

Definition at line 82 of file BetweenFactorEM.h.

Member Function Documentation

◆ calcIndicatorProb()

template<class VALUE >

Vector gtsam::BetweenFactorEM< VALUE >::calcIndicatorProb ( const Values & x ) const

inline

Definition at line 238 of file BetweenFactorEM.h.

◆ dim()

template<class VALUE >

size_t gtsam::BetweenFactorEM< VALUE >::dim ( ) const

inlineoverridevirtual

get the dimension of the factor (number of rows on linearization)

Implements gtsam::NonlinearFactor.

Definition at line 412 of file BetweenFactorEM.h.

◆ equals()

template<class VALUE >

bool gtsam::BetweenFactorEM< VALUE >::equals	(	const NonlinearFactor &	f,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Definition at line 101 of file BetweenFactorEM.h.

◆ error()

template<class VALUE >

double gtsam::BetweenFactorEM< VALUE >::error ( const Values & x ) const

inlineoverridevirtual

implement functions needed to derive from Factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 118 of file BetweenFactorEM.h.

◆ get_flag_bump_up_near_zero_probs()

template<class VALUE >

bool gtsam::BetweenFactorEM< VALUE >::get_flag_bump_up_near_zero_probs ( ) const

inline

Definition at line 312 of file BetweenFactorEM.h.

◆ get_model_inlier()

template<class VALUE >

SharedGaussian gtsam::BetweenFactorEM< VALUE >::get_model_inlier ( ) const

inline

Definition at line 317 of file BetweenFactorEM.h.

◆ get_model_inlier_cov()

template<class VALUE >

Matrix gtsam::BetweenFactorEM< VALUE >::get_model_inlier_cov ( ) const

inline

Definition at line 327 of file BetweenFactorEM.h.

◆ get_model_outlier()

template<class VALUE >

SharedGaussian gtsam::BetweenFactorEM< VALUE >::get_model_outlier ( ) const

inline

Definition at line 322 of file BetweenFactorEM.h.

◆ get_model_outlier_cov()

template<class VALUE >

Matrix gtsam::BetweenFactorEM< VALUE >::get_model_outlier_cov ( ) const

inline

Definition at line 332 of file BetweenFactorEM.h.

◆ linearize()

template<class VALUE >

std::shared_ptr<GaussianFactor> gtsam::BetweenFactorEM< VALUE >::linearize ( const Values & x ) const

inlineoverridevirtual

Linearize a non-linearFactorN to get a GaussianFactor, $Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z$ Hence $b = z - h(x) = - \mathtt{error\_vector}(x)$

Implements gtsam::NonlinearFactor.

Definition at line 129 of file BetweenFactorEM.h.

◆ measured()

template<class VALUE >

const VALUE& gtsam::BetweenFactorEM< VALUE >::measured ( ) const

inline

return the measured

Definition at line 408 of file BetweenFactorEM.h.

◆ print()

template<class VALUE >

void gtsam::BetweenFactorEM< VALUE >::print	(	const std::string &	s,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

implement functions needed for Testable print

Reimplemented from gtsam::NonlinearFactor.

Definition at line 88 of file BetweenFactorEM.h.

◆ set_flag_bump_up_near_zero_probs()

template<class VALUE >

void gtsam::BetweenFactorEM< VALUE >::set_flag_bump_up_near_zero_probs ( bool flag )

inline

Definition at line 307 of file BetweenFactorEM.h.

◆ unwhitenedError()

template<class VALUE >

Vector gtsam::BetweenFactorEM< VALUE >::unwhitenedError ( const Values & x ) const

inline

Definition at line 294 of file BetweenFactorEM.h.

◆ updateNoiseModels()

template<class VALUE >

void gtsam::BetweenFactorEM< VALUE >::updateNoiseModels	(	const Values &	values,
		const NonlinearFactorGraph &	graph
	)

inline

Definition at line 337 of file BetweenFactorEM.h.

◆ updateNoiseModels_givenCovs()

template<class VALUE >

void gtsam::BetweenFactorEM< VALUE >::updateNoiseModels_givenCovs	(	const Values &	values,
		const Matrix &	cov1,
		const Matrix &	cov2,
		const Matrix &	cov12
	)

inline

Definition at line 362 of file BetweenFactorEM.h.

◆ whitenedError() [1/2]

template<class VALUE >

Vector gtsam::BetweenFactorEM< VALUE >::whitenedError	(	const Values &	x,
		OptionalMatrixVecType	H = `nullptr`
	)		const

inline

Definition at line 147 of file BetweenFactorEM.h.

◆ whitenedError() [2/2]

template<class VALUE >

Vector gtsam::BetweenFactorEM< VALUE >::whitenedError	(	const Values &	x,
		std::vector< Matrix > &	H
	)		const

inline

Definition at line 233 of file BetweenFactorEM.h.

Member Data Documentation

◆ flag_bump_up_near_zero_probs_

template<class VALUE >

bool gtsam::BetweenFactorEM< VALUE >::flag_bump_up_near_zero_probs_

private

Definition at line 56 of file BetweenFactorEM.h.

◆ key1_

template<class VALUE >

Key gtsam::BetweenFactorEM< VALUE >::key1_

private

Definition at line 45 of file BetweenFactorEM.h.

◆ key2_

template<class VALUE >

Key gtsam::BetweenFactorEM< VALUE >::key2_

private

Definition at line 46 of file BetweenFactorEM.h.

◆ measured_

template<class VALUE >

VALUE gtsam::BetweenFactorEM< VALUE >::measured_

private

Definition at line 48 of file BetweenFactorEM.h.

◆ model_inlier_

template<class VALUE >

SharedGaussian gtsam::BetweenFactorEM< VALUE >::model_inlier_

private

The measurement

Definition at line 50 of file BetweenFactorEM.h.

◆ model_outlier_

template<class VALUE >

SharedGaussian gtsam::BetweenFactorEM< VALUE >::model_outlier_

private

Definition at line 51 of file BetweenFactorEM.h.

◆ prior_inlier_

template<class VALUE >

double gtsam::BetweenFactorEM< VALUE >::prior_inlier_

private

Definition at line 53 of file BetweenFactorEM.h.

◆ prior_outlier_

template<class VALUE >

double gtsam::BetweenFactorEM< VALUE >::prior_outlier_

private

Definition at line 54 of file BetweenFactorEM.h.

The documentation for this class was generated from the following file:

BetweenFactorEM.h

Public Types

Public Member Functions

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

template<class VALUE> class gtsam::BetweenFactorEM< VALUE >

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ T

◆ This

Constructor & Destructor Documentation

◆ BetweenFactorEM() [1/2]

◆ BetweenFactorEM() [2/2]

◆ ~BetweenFactorEM()

Member Function Documentation

◆ calcIndicatorProb()

◆ dim()

◆ equals()

◆ error()

◆ get_flag_bump_up_near_zero_probs()

◆ get_model_inlier()

◆ get_model_inlier_cov()

◆ get_model_outlier()

◆ get_model_outlier_cov()

◆ linearize()

◆ measured()

◆ print()

◆ set_flag_bump_up_near_zero_probs()

◆ unwhitenedError()

◆ updateNoiseModels()

◆ updateNoiseModels_givenCovs()

◆ whitenedError() [1/2]

◆ whitenedError() [2/2]

Member Data Documentation

◆ flag_bump_up_near_zero_probs_

◆ key1_

◆ key2_

◆ measured_

◆ model_inlier_

◆ model_outlier_

◆ prior_inlier_

◆ prior_outlier_

template<class VALUE>
class gtsam::BetweenFactorEM< VALUE >