#include <DummyFactor.h>

Inheritance diagram for gtsam::DummyFactor< CAMERA >:

Public Types
typedef std::pair< Key, Matrix2D >	KeyMatrix2D

typedef Eigen::Matrix< double, 2, CAMERA::dimension >	Matrix2D

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
NonlinearFactor::shared_ptr	clone () const override

size_t	dim () const override

const std::vector< size_t > &	dims () const

	DummyFactor ()

	DummyFactor ()

	DummyFactor (const Key &key1, size_t dim1, const Key &key2, size_t dim2)

	DummyFactor (const std::vector< KeyMatrix2D > &Fblocks, const Matrix &E, const Matrix3 &P, const Vector &b)

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

double	error (const Values &c) const override

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

void	multiplyHessian (double alpha, const VectorValues &x, VectorValues &y) const
	Dummy version to measure overhead of key access. More...

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

virtual	~DummyFactor ()

	~DummyFactor () 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	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 ()

Protected Attributes
std::vector< size_t >	dims_

size_t	rowDim_
	choose dimension for the rows More...

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

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)

Detailed Description

template<typename CAMERA>
class gtsam::DummyFactor< CAMERA >

DummyFactor

Definition at line 17 of file gtsam_unstable/slam/DummyFactor.h.

Member Typedef Documentation

◆ KeyMatrix2D

template<typename CAMERA >

typedef std::pair<Key, Matrix2D> gtsam::DummyFactor< CAMERA >::KeyMatrix2D

Definition at line 22 of file timing/DummyFactor.h.

◆ Matrix2D

template<typename CAMERA >

typedef Eigen::Matrix<double, 2, CAMERA::dimension> gtsam::DummyFactor< CAMERA >::Matrix2D

Definition at line 21 of file timing/DummyFactor.h.

Constructor & Destructor Documentation

◆ DummyFactor() [1/4]

template<typename CAMERA >

gtsam::DummyFactor< CAMERA >::DummyFactor ( )

inline

Default constructor: don't use directly

Definition at line 27 of file gtsam_unstable/slam/DummyFactor.h.

◆ DummyFactor() [2/4]

template<typename CAMERA >

gtsam::DummyFactor< CAMERA >::DummyFactor	(	const Key &	key1,
		size_t	dim1,
		const Key &	key2,
		size_t	dim2
	)

standard binary constructor

Definition at line 13 of file DummyFactor.cpp.

◆ ~DummyFactor() [1/2]

template<typename CAMERA >

gtsam::DummyFactor< CAMERA >::~DummyFactor ( )

inlineoverride

Definition at line 32 of file gtsam_unstable/slam/DummyFactor.h.

◆ DummyFactor() [3/4]

template<typename CAMERA >

gtsam::DummyFactor< CAMERA >::DummyFactor ( )

inline

Definition at line 24 of file timing/DummyFactor.h.

◆ DummyFactor() [4/4]

template<typename CAMERA >

gtsam::DummyFactor< CAMERA >::DummyFactor	(	const std::vector< KeyMatrix2D > &	Fblocks,
		const Matrix &	E,
		const Matrix3 &	P,
		const Vector &	b
	)

inline

Definition at line 27 of file timing/DummyFactor.h.

◆ ~DummyFactor() [2/2]

template<typename CAMERA >

virtual gtsam::DummyFactor< CAMERA >::~DummyFactor ( )

inlinevirtual

Definition at line 32 of file timing/DummyFactor.h.

Member Function Documentation

◆ clone()

template<typename CAMERA >

NonlinearFactor::shared_ptr gtsam::DummyFactor< CAMERA >::clone ( ) const

inlineoverridevirtual

Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses

By default, throws exception if subclass does not implement the function.

Reimplemented from gtsam::NonlinearFactor.

Definition at line 65 of file gtsam_unstable/slam/DummyFactor.h.

◆ dim()

template<typename CAMERA >

size_t gtsam::DummyFactor< CAMERA >::dim ( ) const

inlineoverridevirtual

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

Implements gtsam::NonlinearFactor.

Definition at line 54 of file gtsam_unstable/slam/DummyFactor.h.

◆ dims()

template<typename CAMERA >

const std::vector<size_t>& gtsam::DummyFactor< CAMERA >::dims ( ) const

inline

Definition at line 44 of file gtsam_unstable/slam/DummyFactor.h.

◆ equals()

template<typename CAMERA >

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

overridevirtual

Check if two factors are equal

Reimplemented from gtsam::NonlinearFactor.

Definition at line 32 of file DummyFactor.cpp.

◆ error()

template<typename CAMERA >

double gtsam::DummyFactor< CAMERA >::error ( const Values & c ) const

inlineoverridevirtual

Calculate the error of the factor - zero for dummy factors

Reimplemented from gtsam::NonlinearFactor.

Definition at line 51 of file gtsam_unstable/slam/DummyFactor.h.

◆ linearize()

template<typename CAMERA >

std::shared_ptr< GaussianFactor > gtsam::DummyFactor< CAMERA >::linearize ( const Values & c ) const

overridevirtual

linearize to a GaussianFactor

Implements gtsam::NonlinearFactor.

Definition at line 39 of file DummyFactor.cpp.

◆ multiplyHessian()

template<typename CAMERA >

void gtsam::DummyFactor< CAMERA >::multiplyHessian	(	double	alpha,
		const VectorValues &	x,
		VectorValues &	y
	)		const

inline

Dummy version to measure overhead of key access.

Definition at line 40 of file timing/DummyFactor.h.

◆ print()

template<typename CAMERA >

void gtsam::DummyFactor< CAMERA >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

overridevirtual

print

Reimplemented from gtsam::NonlinearFactor.

Definition at line 25 of file DummyFactor.cpp.

Member Data Documentation

◆ dims_

template<typename CAMERA >

std::vector<size_t> gtsam::DummyFactor< CAMERA >::dims_

protected

Definition at line 21 of file gtsam_unstable/slam/DummyFactor.h.

◆ rowDim_

template<typename CAMERA >

size_t gtsam::DummyFactor< CAMERA >::rowDim_

protected

choose dimension for the rows

Definition at line 22 of file gtsam_unstable/slam/DummyFactor.h.

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

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename CAMERA> class gtsam::DummyFactor< CAMERA >

Member Typedef Documentation

◆ KeyMatrix2D

◆ Matrix2D

Constructor & Destructor Documentation

◆ DummyFactor() [1/4]

◆ DummyFactor() [2/4]

◆ ~DummyFactor() [1/2]

◆ DummyFactor() [3/4]

◆ DummyFactor() [4/4]

◆ ~DummyFactor() [2/2]

Member Function Documentation

◆ clone()

◆ dim()

◆ dims()

◆ equals()

◆ error()

◆ linearize()

◆ multiplyHessian()

◆ print()

Member Data Documentation

◆ dims_

◆ rowDim_

template<typename CAMERA>
class gtsam::DummyFactor< CAMERA >