Public Types | Public Member Functions | Static Public Attributes | Protected Member Functions | Private Member Functions | List of all members
gtsam::ExpressionFactorN< T, Args > Class Template Reference

#include <ExpressionFactor.h>

Inheritance diagram for gtsam::ExpressionFactorN< T, Args >:
Inheritance graph
[legend]

Public Types

using ArrayNKeys = std::array< Key, NARY_EXPRESSION_SIZE >
 
- Public Types inherited from gtsam::ExpressionFactor< T >
typedef std::shared_ptr< ExpressionFactor< T > > shared_ptr
 

Public Member Functions

virtual Expression< Texpression (const ArrayNKeys &keys) const
 
- Public Member Functions inherited from gtsam::ExpressionFactor< T >
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< GaussianFactorlinearize (const Values &x) const override
 
const Tmeasured () 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...
 

Static Public Attributes

static const std::size_t NARY_EXPRESSION_SIZE = sizeof...(Args)
 

Protected Member Functions

 ExpressionFactorN ()=default
 Default constructor, for serialization. More...
 
 ExpressionFactorN (const ArrayNKeys &keys, const SharedNoiseModel &noiseModel, const T &measurement)
 Constructor takes care of keys, but still need to call initialize. More...
 
- Protected Member Functions inherited from gtsam::ExpressionFactor< T >
 ExpressionFactor ()
 
 ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement)
 Default constructor, for serialization. More...
 
void initialize (const Expression< T > &expression)
 Initialize with constructor arguments. More...
 

Private Member Functions

Expression< Texpression () const override
 Return an expression that predicts the measurement given Values. More...
 

Additional Inherited Members

- Protected Types inherited from gtsam::ExpressionFactor< T >
typedef ExpressionFactor< TThis
 
- Protected Attributes inherited from gtsam::ExpressionFactor< T >
FastVector< intdims_
 dimensions of the Jacobian matrices More...
 
Expression< Texpression_
 the expression that is AD enabled More...
 
T measured_
 the measurement to be compared with the expression More...
 
- Static Protected Attributes inherited from gtsam::ExpressionFactor< T >
static const int Dim = traits<T>::dimension
 

Detailed Description

template<typename T, typename... Args>
class gtsam::ExpressionFactorN< T, Args >

N-ary variadic template for ExpressionFactor meant as a base class for N-ary factors. Enforces an 'expression' method with N keys. Derived class (an N-factor!) needs to call 'initialize'.

Does not provide backward compatible 'evaluateError'.

Template Parameters
TType for measurements. The rest of template arguments are types for the N key-indexed Values.

Definition at line 249 of file ExpressionFactor.h.

Member Typedef Documentation

◆ ArrayNKeys

template<typename T , typename... Args>
using gtsam::ExpressionFactorN< T, Args >::ArrayNKeys = std::array<Key, NARY_EXPRESSION_SIZE>

Definition at line 252 of file ExpressionFactor.h.

Constructor & Destructor Documentation

◆ ExpressionFactorN() [1/2]

template<typename T , typename... Args>
gtsam::ExpressionFactorN< T, Args >::ExpressionFactorN ( )
protecteddefault

Default constructor, for serialization.

◆ ExpressionFactorN() [2/2]

template<typename T , typename... Args>
gtsam::ExpressionFactorN< T, Args >::ExpressionFactorN ( const ArrayNKeys keys,
const SharedNoiseModel noiseModel,
const T measurement 
)
inlineprotected

Constructor takes care of keys, but still need to call initialize.

Definition at line 273 of file ExpressionFactor.h.

Member Function Documentation

◆ expression() [1/2]

template<typename T , typename... Args>
Expression<T> gtsam::ExpressionFactorN< T, Args >::expression ( ) const
inlineoverrideprivatevirtual

Return an expression that predicts the measurement given Values.

Reimplemented from gtsam::ExpressionFactor< T >.

Definition at line 282 of file ExpressionFactor.h.

◆ expression() [2/2]

template<typename T , typename... Args>
virtual Expression<T> gtsam::ExpressionFactorN< T, Args >::expression ( const ArrayNKeys keys) const
inlinevirtual

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

Definition at line 263 of file ExpressionFactor.h.

Member Data Documentation

◆ NARY_EXPRESSION_SIZE

template<typename T , typename... Args>
const std::size_t gtsam::ExpressionFactorN< T, Args >::NARY_EXPRESSION_SIZE = sizeof...(Args)
static

Definition at line 251 of file ExpressionFactor.h.


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


gtsam
Author(s):
autogenerated on Thu Jun 13 2024 03:17:06