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gtsam::NonlinearEquality1< VALUE > Class Template Reference

#include <NonlinearEquality.h>

Inheritance diagram for gtsam::NonlinearEquality1< VALUE >:
Inheritance graph
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Public Types

typedef std::shared_ptr< NonlinearEquality1< VALUE > > shared_ptr
 fixed value for variable More...
 
typedef VALUE X
 
- Public Types inherited from gtsam::NoiseModelFactorN< VALUE >
enum  
 N is the number of variables (N-way factor) More...
 
using ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< Thisshared_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

gtsam::NonlinearFactor::shared_ptr clone () const override
 
Vector evaluateError (const X &x1, OptionalMatrixType H) const override
 g(x) with optional derivative More...
 
 NonlinearEquality1 (const X &value, Key key, double mu=1000.0)
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 Print. More...
 
 ~NonlinearEquality1 () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< VALUE >
Key key () const
 
virtual Vector unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0
 
Vector unwhitenedError (const Values &x, std::vector< Matrix > &H) const
 
 ~NoiseModelFactorN () override
 
 NoiseModelFactorN ()
 Default Constructor for I/O. More...
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)
 
Vector unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override
 
virtual Vector evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0
 
Vector evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const
 
Vector evaluateError (const ValueTypes &... x) const
 
AreAllMatrixRefs< Vector, OptionalJacArgs... > evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
 
AreAllMatrixPtrs< Vector, OptionalJacArgs... > evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
 
Key key1 () const
 
Key key2 () const
 
Key key3 () const
 
Key key4 () const
 
Key key5 () const
 
Key key6 () const
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
 
size_t dim () const override
 
bool equals (const NonlinearFactor &f, double tol=1e-9) const override
 
double error (const Values &c) const override
 
std::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 
const SharedNoiseModelnoiseModel () const
 access to the noise model More...
 
 NoiseModelFactor ()
 
template<typename CONTAINER >
 NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
Vector unweightedWhitenedError (const Values &c) const
 
Vector unwhitenedError (const Values &x, std::vector< Matrix > &H) const
 
double weight (const Values &c) const
 
Vector whitenedError (const Values &c) const
 
 ~NoiseModelFactor () 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 KeyVectorkeys () 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...
 
KeyVectorkeys ()
 
iterator begin ()
 
iterator end ()
 

Protected Types

typedef NoiseModelFactorN< VALUE > Base
 
typedef NonlinearEquality1< VALUE > This
 
- Protected Types inherited from gtsam::NoiseModelFactorN< VALUE >
using Base = NoiseModelFactor
 
using KeyType = Key
 
using MatrixTypeT = Matrix
 
using OptionalMatrixTypeT = Matrix *
 
using This = NoiseModelFactorN< ValueTypes... >
 
using IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type
 
using IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type
 
using ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type
 
using IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >
 
using AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix & >::value), Ret >
 
using IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix * >
 
using IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >
 
using AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value||IsNullpointer< Args >::value)), Ret >
 
- Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor Base
 
typedef NoiseModelFactor This
 
- Protected Types inherited from gtsam::NonlinearFactor
typedef Factor Base
 
typedef NonlinearFactor This
 

Protected Member Functions

 NonlinearEquality1 ()
 Default constructor to allow for serialization. More...
 
- Protected Member Functions inherited from gtsam::NoiseModelFactor
 NoiseModelFactor (const SharedNoiseModel &noiseModel)
 
- Protected Member Functions inherited from gtsam::Factor
 Factor ()
 
template<typename CONTAINER >
 Factor (const CONTAINER &keys)
 
template<typename ITERATOR >
 Factor (ITERATOR first, ITERATOR last)
 

Protected Attributes

X value_
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor. More...
 

Additional Inherited Members

- 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<class VALUE>
class gtsam::NonlinearEquality1< VALUE >

Simple unary equality constraint - fixes a value for a variable

Definition at line 209 of file NonlinearEquality.h.

Member Typedef Documentation

◆ Base

template<class VALUE >
typedef NoiseModelFactorN<VALUE> gtsam::NonlinearEquality1< VALUE >::Base
protected

Definition at line 218 of file NonlinearEquality.h.

◆ shared_ptr

template<class VALUE >
typedef std::shared_ptr<NonlinearEquality1<VALUE> > gtsam::NonlinearEquality1< VALUE >::shared_ptr

fixed value for variable

Definition at line 232 of file NonlinearEquality.h.

◆ This

template<class VALUE >
typedef NonlinearEquality1<VALUE> gtsam::NonlinearEquality1< VALUE >::This
protected

Definition at line 219 of file NonlinearEquality.h.

◆ X

template<class VALUE >
typedef VALUE gtsam::NonlinearEquality1< VALUE >::X

Definition at line 212 of file NonlinearEquality.h.

Constructor & Destructor Documentation

◆ NonlinearEquality1() [1/2]

template<class VALUE >
gtsam::NonlinearEquality1< VALUE >::NonlinearEquality1 ( )
inlineprotected

Default constructor to allow for serialization.

Definition at line 222 of file NonlinearEquality.h.

◆ NonlinearEquality1() [2/2]

template<class VALUE >
gtsam::NonlinearEquality1< VALUE >::NonlinearEquality1 ( const X value,
Key  key,
double  mu = 1000.0 
)
inline

Constructor

Parameters
valuefeasible value that values(key) shouild be equal to
keythe key for the unknown variable to be constrained
mua parameter which really turns this into a strong prior

Definition at line 240 of file NonlinearEquality.h.

◆ ~NonlinearEquality1()

template<class VALUE >
gtsam::NonlinearEquality1< VALUE >::~NonlinearEquality1 ( )
inlineoverride

Definition at line 246 of file NonlinearEquality.h.

Member Function Documentation

◆ clone()

template<class VALUE >
gtsam::NonlinearFactor::shared_ptr gtsam::NonlinearEquality1< VALUE >::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 250 of file NonlinearEquality.h.

◆ evaluateError()

template<class VALUE >
Vector gtsam::NonlinearEquality1< VALUE >::evaluateError ( const X x1,
OptionalMatrixType  H 
) const
inlineoverride

g(x) with optional derivative

Definition at line 256 of file NonlinearEquality.h.

◆ print()

template<class VALUE >
void gtsam::NonlinearEquality1< VALUE >::print ( const std::string &  s = "",
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
inlineoverridevirtual

Print.

Reimplemented from gtsam::Factor.

Definition at line 264 of file NonlinearEquality.h.

Member Data Documentation

◆ value_

template<class VALUE >
X gtsam::NonlinearEquality1< VALUE >::value_
protected

Definition at line 225 of file NonlinearEquality.h.


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


gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:52:39