#include <LinearCost.h>
Public Types | |
typedef JacobianFactor | Base |
Typedef to base class. More... | |
typedef std::shared_ptr< This > | shared_ptr |
shared_ptr to this class More... | |
typedef LinearCost | This |
Typedef to this class. More... | |
Public Types inherited from gtsam::JacobianFactor | |
typedef VerticalBlockMatrix::Block | ABlock |
typedef GaussianFactor | Base |
Typedef to base class. More... | |
typedef ABlock::ColXpr | BVector |
typedef VerticalBlockMatrix::constBlock | constABlock |
typedef constABlock::ConstColXpr | constBVector |
typedef std::shared_ptr< This > | shared_ptr |
shared_ptr to this class More... | |
typedef JacobianFactor | This |
Typedef to this class. More... | |
Public Types inherited from gtsam::GaussianFactor | |
typedef Factor | Base |
Our base class. More... | |
typedef std::shared_ptr< This > | shared_ptr |
shared_ptr to this class More... | |
typedef GaussianFactor | This |
This class. More... | |
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 | |
GaussianFactor::shared_ptr | clone () const override |
bool | equals (const GaussianFactor &lf, double tol=1e-9) const override |
double | error (const VectorValues &c) const override |
Vector | error_vector (const VectorValues &c) const |
LinearCost () | |
LinearCost (const HessianFactor &hf) | |
LinearCost (const JacobianFactor &jf) | |
template<typename TERMS > | |
LinearCost (const TERMS &terms) | |
LinearCost (Key i1, const RowVector &A1) | |
LinearCost (Key i1, const RowVector &A1, Key i2, const RowVector &A2, double b) | |
LinearCost (Key i1, const RowVector &A1, Key i2, const RowVector &A2, Key i3, const RowVector &A3) | |
void | print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
~LinearCost () override | |
Public Member Functions inherited from gtsam::JacobianFactor | |
Matrix | augmentedInformation () const override |
Matrix | augmentedJacobian () const override |
Matrix | augmentedJacobianUnweighted () const |
size_t | cols () const |
std::pair< std::shared_ptr< GaussianConditional >, shared_ptr > | eliminate (const Ordering &keys) |
double | error (const HybridValues &c) const override |
virtual double | error (const VectorValues &c) const |
Vector | error_vector (const VectorValues &c) const |
SharedDiagonal & | get_model () |
const SharedDiagonal & | get_model () const |
ABlock | getA () |
constABlock | getA () const |
ABlock | getA (const Key &key) |
constABlock | getA (const_iterator variable) const |
ABlock | getA (iterator variable) |
BVector | getb () |
const constBVector | getb () const |
DenseIndex | getDim (const_iterator variable) const override |
Vector | gradient (Key key, const VectorValues &x) const override |
Compute the gradient wrt a key at any values. More... | |
VectorValues | gradientAtZero () const override |
A'*b for Jacobian. More... | |
void | gradientAtZero (double *d) const override |
A'*b for Jacobian (raw memory version) More... | |
std::map< Key, Matrix > | hessianBlockDiagonal () const override |
Return the block diagonal of the Hessian for this factor. More... | |
void | hessianDiagonal (double *d) const override |
Raw memory access version of hessianDiagonal. More... | |
void | hessianDiagonalAdd (VectorValues &d) const override |
Add the current diagonal to a VectorValues instance. More... | |
Matrix | information () const override |
bool | isConstrained () const |
std::pair< Matrix, Vector > | jacobian () const override |
Returns (dense) A,b pair associated with factor, bakes in the weights. More... | |
JacobianFactor () | |
JacobianFactor (const GaussianFactor &gf) | |
JacobianFactor (const GaussianFactorGraph &graph) | |
JacobianFactor (const GaussianFactorGraph &graph, const Ordering &ordering) | |
JacobianFactor (const GaussianFactorGraph &graph, const Ordering &ordering, const VariableSlots &p_variableSlots) | |
JacobianFactor (const GaussianFactorGraph &graph, const VariableSlots &p_variableSlots) | |
JacobianFactor (const HessianFactor &hf) | |
JacobianFactor (const JacobianFactor &jf) | |
template<typename KEYS > | |
JacobianFactor (const KEYS &keys, const VerticalBlockMatrix &augmentedMatrix, const SharedDiagonal &sigmas=SharedDiagonal()) | |
template<typename TERMS > | |
JacobianFactor (const TERMS &terms, const Vector &b, const SharedDiagonal &model=SharedDiagonal()) | |
JacobianFactor (const Vector &b_in) | |
JacobianFactor (Key i1, const Matrix &A1, const Vector &b, const SharedDiagonal &model=SharedDiagonal()) | |
JacobianFactor (Key i1, const Matrix &A1, Key i2, const Matrix &A2, const Vector &b, const SharedDiagonal &model=SharedDiagonal()) | |
JacobianFactor (Key i1, const Matrix &A1, Key i2, const Matrix &A2, Key i3, const Matrix &A3, const Vector &b, const SharedDiagonal &model=SharedDiagonal()) | |
std::pair< Matrix, Vector > | jacobianUnweighted () const |
Returns (dense) A,b pair associated with factor, does not bake in weights. More... | |
VerticalBlockMatrix & | matrixObject () |
const VerticalBlockMatrix & | matrixObject () const |
void | multiplyHessianAdd (double alpha, const double *x, double *y, const std::vector< size_t > &accumulatedDims) const |
void | multiplyHessianAdd (double alpha, const VectorValues &x, VectorValues &y) const override |
GaussianFactor::shared_ptr | negate () const override |
Vector | operator* (const VectorValues &x) const |
size_t | rows () const |
void | setModel (bool anyConstrained, const Vector &sigmas) |
std::shared_ptr< GaussianConditional > | splitConditional (size_t nrFrontals) |
void | transposeMultiplyAdd (double alpha, const Vector &e, VectorValues &x) const |
Vector | unweighted_error (const VectorValues &c) const |
void | updateHessian (const KeyVector &keys, SymmetricBlockMatrix *info) const override |
JacobianFactor | whiten () const |
~JacobianFactor () override | |
Public Member Functions inherited from gtsam::GaussianFactor | |
GaussianFactor () | |
template<typename CONTAINER > | |
GaussianFactor (const CONTAINER &keys) | |
double | error (const HybridValues &c) const override |
VectorValues | hessianDiagonal () const |
Return the diagonal of the Hessian for this factor. More... | |
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 () |
Additional Inherited Members | |
Static Public Member Functions inherited from gtsam::GaussianFactor | |
template<typename CONTAINER > | |
static DenseIndex | Slot (const CONTAINER &keys, Key key) |
Protected Member Functions inherited from gtsam::JacobianFactor | |
template<typename TERMS > | |
void | fillTerms (const TERMS &terms, const Vector &b, const SharedDiagonal &noiseModel) |
Internal function to fill blocks and set dimensions. More... | |
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::JacobianFactor | |
VerticalBlockMatrix | Ab_ |
noiseModel::Diagonal::shared_ptr | model_ |
Protected Attributes inherited from gtsam::Factor | |
KeyVector | keys_ |
The keys involved in this factor. More... | |
This class defines a linear cost function c'x which is a JacobianFactor with only one row
Definition at line 31 of file LinearCost.h.
Typedef to base class.
Definition at line 34 of file LinearCost.h.
typedef std::shared_ptr<This> gtsam::LinearCost::shared_ptr |
shared_ptr to this class
Definition at line 35 of file LinearCost.h.
typedef LinearCost gtsam::LinearCost::This |
Typedef to this class.
Definition at line 33 of file LinearCost.h.
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inline |
default constructor for I/O
Definition at line 39 of file LinearCost.h.
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inlineexplicit |
Conversion from HessianFactor
Definition at line 44 of file LinearCost.h.
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inlineexplicit |
Conversion from JacobianFactor
Definition at line 49 of file LinearCost.h.
Construct unary factor
Definition at line 63 of file LinearCost.h.
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inline |
Construct binary factor
Definition at line 68 of file LinearCost.h.
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inline |
Construct ternary factor
Definition at line 73 of file LinearCost.h.
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inline |
Construct an n-ary factor
TERMS | A container whose value type is std::pair<Key, Matrix>, specifying the collection of keys and matrices making up the factor. |
Definition at line 82 of file LinearCost.h.
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inlineoverride |
Virtual destructor
Definition at line 87 of file LinearCost.h.
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inlineoverridevirtual |
Clone this LinearCost
Reimplemented from gtsam::JacobianFactor.
Definition at line 102 of file LinearCost.h.
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inlineoverridevirtual |
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inlineoverridevirtual |
Special error for single-valued inequality constraints.
Reimplemented from gtsam::JacobianFactor.
Definition at line 113 of file LinearCost.h.
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inline |
Special error_vector for constraints (A*x-b)
Definition at line 108 of file LinearCost.h.
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inlineoverridevirtual |