#include <Expression.h>

Inheritance diagram for gtsam::ExpressionFactor< T >:

Public Types
typedef std::shared_ptr< ExpressionFactor< T > >	shared_ptr

Public Member Functions
gtsam::NonlinearFactor::shared_ptr	clone () const override

bool	equals (const NonlinearFactor &f, double tol) const override
	equals relies on Testable traits being defined for T More...

	ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement, const Expression< T > &expression)

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

const T &	measured () const

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print relies on Testable traits being defined for T More...

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

virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const=0

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

	~ExpressionFactor () override
	Destructor. More...

Protected Types
typedef ExpressionFactor< T >	This

Protected Member Functions
virtual Expression< T >	expression () const

	ExpressionFactor ()

	ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement)
	Default constructor, for serialization. More...

void	initialize (const Expression< T > &expression)
	Initialize with constructor arguments. More...

Protected Attributes
FastVector< int >	dims_
	dimensions of the Jacobian matrices More...

Expression< T >	expression_
	the expression that is AD enabled More...

T	measured_
	the measurement to be compared with the expression More...

Static Protected Attributes
static const int	Dim = traits<T>::dimension

Private Types
enum	{ NeedsToAlign = (sizeof(T) % 16) == 0 }

Private Member Functions
	GTSAM_CONCEPT_ASSERT (IsTestable< T >)

Detailed Description

template<typename T>
class gtsam::ExpressionFactor< T >

Factor that supports arbitrary expressions via AD.

Arbitrary instances of this template can be directly inserted into a factor graph for optimization. However, to enable the correct (de)serialization of such instances, the user should declare derived classes from this template, implementing expresion(), serialize(), clone(), print(), and defining the corresponding struct traits<NewFactor> : public Testable<NewFactor> {}.

Template Parameters

T	Type for measurements.

Definition at line 36 of file Expression.h.

Member Typedef Documentation

◆ shared_ptr

template<typename T >

typedef std::shared_ptr<ExpressionFactor<T> > gtsam::ExpressionFactor< T >::shared_ptr

Definition at line 63 of file ExpressionFactor.h.

◆ This

template<typename T >

typedef ExpressionFactor<T> gtsam::ExpressionFactor< T >::This

protected

Definition at line 51 of file ExpressionFactor.h.

Member Enumeration Documentation

◆ anonymous enum

template<typename T >

anonymous enum

private

Enumerator
NeedsToAlign

Definition at line 227 of file ExpressionFactor.h.

Constructor & Destructor Documentation

◆ ExpressionFactor() [1/3]

template<typename T >

gtsam::ExpressionFactor< T >::ExpressionFactor	(	const SharedNoiseModel &	noiseModel,
		const T &	measurement,
		const Expression< T > &	expression
	)

inline

Constructor: creates a factor from a measurement and measurement function

Parameters

noiseModel	the noise model associated with a measurement
measurement	actual value of the measurement, of type T
expression	predicts the measurement from Values The keys associated with the factor, returned by keys(), are sorted.

Definition at line 72 of file ExpressionFactor.h.

◆ ~ExpressionFactor()

template<typename T >

gtsam::ExpressionFactor< T >::~ExpressionFactor ( )

inlineoverride

Destructor.

Definition at line 79 of file ExpressionFactor.h.

◆ ExpressionFactor() [2/3]

template<typename T >

gtsam::ExpressionFactor< T >::ExpressionFactor ( )

inlineprotected

Definition at line 162 of file ExpressionFactor.h.

◆ ExpressionFactor() [3/3]

template<typename T >

gtsam::ExpressionFactor< T >::ExpressionFactor	(	const SharedNoiseModel &	noiseModel,
		const T &	measurement
	)

inlineprotected

Default constructor, for serialization.

Constructor for serializable derived classes

Definition at line 166 of file ExpressionFactor.h.

Member Function Documentation

◆ clone()

template<typename T >

gtsam::NonlinearFactor::shared_ptr gtsam::ExpressionFactor< T >::clone ( ) const

inlineoverride

Returns: a deep copy of this factor

Definition at line 156 of file ExpressionFactor.h.

◆ equals()

template<typename T >

bool gtsam::ExpressionFactor< T >::equals	(	const NonlinearFactor &	f,
		double	tol
	)		const

inlineoverride

equals relies on Testable traits being defined for T

Definition at line 92 of file ExpressionFactor.h.

◆ expression()

template<typename T >

virtual Expression<T> gtsam::ExpressionFactor< T >::expression ( ) const

inlineprotectedvirtual

Recreate expression from keys_ and measured_, used in load below. Needed to deserialize a derived factor

Reimplemented in gtsam::ExpressionFactorN< T, Args >, gtsam::ExpressionFactorN< double, A1, A1 >, gtsam::ExpressionFactorN< typename Range< A1, A1 >::result_type, A1, A1 >, gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >, gtsam::ExpressionFactorN< typename Bearing< A1, A2 >::result_type, A1, A2 >, and gtsam::ExpressionFactorN< BearingRange< A1, A2 >, A1, A2 >.

Definition at line 198 of file ExpressionFactor.h.

◆ GTSAM_CONCEPT_ASSERT()

template<typename T >

gtsam::ExpressionFactor< T >::GTSAM_CONCEPT_ASSERT ( IsTestable< T > )

private

◆ initialize()

template<typename T >

void gtsam::ExpressionFactor< T >::initialize ( const Expression< T > & expression )

inlineprotected

Initialize with constructor arguments.

Definition at line 172 of file ExpressionFactor.h.

◆ linearize()

template<typename T >

std::shared_ptr<GaussianFactor> gtsam::ExpressionFactor< T >::linearize ( const Values & x ) const

inlineoverride

Definition at line 117 of file ExpressionFactor.h.

◆ measured()

template<typename T >

const T& gtsam::ExpressionFactor< T >::measured ( ) const

inline

return the measurement

Definition at line 82 of file ExpressionFactor.h.

◆ print()

template<typename T >

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

inlineoverride

print relies on Testable traits being defined for T

Definition at line 85 of file ExpressionFactor.h.

◆ unwhitenedError() [1/3]

template<typename T >

Vector gtsam::ExpressionFactor< T >::unwhitenedError	(	const Values &	x,
		OptionalMatrixVecType	H = `nullptr`
	)		const

inlineoverride

Error function without the NoiseModel, $ z-h(x) -> Local(h(x),z) $ . We override this method to provide both the function evaluation and its derivative(s) in H.

Definition at line 104 of file ExpressionFactor.h.

◆ unwhitenedError() [2/3]

template<typename T >

virtual Vector gtsam::NoiseModelFactor::unwhitenedError

Error function without the NoiseModel, $ z-h(x) $ . Override this method to finish implementing an N-way factor. If the optional arguments is specified, it should compute both the function evaluation and its derivative(s) in H.

◆ unwhitenedError() [3/3]

template<typename T >

Vector gtsam::NoiseModelFactor::unwhitenedError

inline

support taking in the actual vector instead of the pointer as well to get access to this version of the function from derived classes one will need to use the "using" keyword and specify that like this: public: using NoiseModelFactor::unwhitenedError;

Definition at line 263 of file NonlinearFactor.h.

Member Data Documentation

◆ Dim

template<typename T >

const int gtsam::ExpressionFactor< T >::Dim = traits<T>::dimension

staticprotected

Definition at line 52 of file ExpressionFactor.h.

◆ dims_

template<typename T >

FastVector<int> gtsam::ExpressionFactor< T >::dims_

protected

dimensions of the Jacobian matrices

Definition at line 56 of file ExpressionFactor.h.

◆ expression_

template<typename T >

Expression<T> gtsam::ExpressionFactor< T >::expression_

protected

the expression that is AD enabled

Definition at line 55 of file ExpressionFactor.h.

◆ measured_

template<typename T >

T gtsam::ExpressionFactor< T >::measured_

protected

the measurement to be compared with the expression

Definition at line 54 of file ExpressionFactor.h.

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

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Types

Private Member Functions

Detailed Description

template<typename T> class gtsam::ExpressionFactor< T >

Member Typedef Documentation

◆ shared_ptr

◆ This

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ ExpressionFactor() [1/3]

◆ ~ExpressionFactor()

◆ ExpressionFactor() [2/3]

◆ ExpressionFactor() [3/3]

Member Function Documentation

◆ clone()

◆ equals()

◆ expression()

◆ GTSAM_CONCEPT_ASSERT()

◆ initialize()

◆ linearize()

◆ measured()

◆ print()

◆ unwhitenedError() [1/3]

◆ unwhitenedError() [2/3]

◆ unwhitenedError() [3/3]

Member Data Documentation

◆ Dim

◆ dims_

◆ expression_

◆ measured_

template<typename T>
class gtsam::ExpressionFactor< T >