#include <RegularHessianFactor.h>

Inheritance diagram for gtsam::RegularHessianFactor< D >:

[legend]

Public Types
typedef Eigen::Matrix< double, D, D >	MatrixD

typedef Eigen::Matrix< double, D, 1 >	VectorD

Public Types inherited from gtsam::HessianFactor
typedef GaussianFactor	Base
	Typedef to base class. More...

typedef SymmetricBlockMatrix::Block	Block
	A block from the Hessian matrix. More...

typedef SymmetricBlockMatrix::constBlock	constBlock
	A block from the Hessian matrix (const version) More...

typedef std::shared_ptr< This >	shared_ptr
	A shared_ptr to this class. More...

typedef HessianFactor	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
void	gradientAtZero (double *d) const override
	Add gradient at zero to d TODO: is it really the goal to add ?? More...

void	hessianDiagonal (double *d) const override

void	multiplyHessianAdd (double alpha, const double x, double yvalues) const

void	multiplyHessianAdd (double alpha, const double x, double yvalues, std::vector< size_t > offsets) const
	Raw memory version, with offsets TODO document reasoning. More...

void	multiplyHessianAdd (double alpha, const VectorValues &x, VectorValues &y) const override

	RegularHessianFactor (const GaussianFactorGraph &factors)
	Construct from a GaussianFactorGraph. More...

	RegularHessianFactor (const GaussianFactorGraph &factors, const Scatter &scatter)
	Construct from a GaussianFactorGraph. More...

template<typename KEYS >
	RegularHessianFactor (const KEYS &keys, const SymmetricBlockMatrix &augmentedInformation)

	RegularHessianFactor (const KeyVector &js, const std::vector< Matrix > &Gs, const std::vector< Vector > &gs, double f)

	RegularHessianFactor (const RegularJacobianFactor< D > &jf)
	Construct from RegularJacobianFactor. More...

	RegularHessianFactor (Key j1, Key j2, const MatrixD &G11, const MatrixD &G12, const VectorD &g1, const MatrixD &G22, const VectorD &g2, double f)

	RegularHessianFactor (Key j1, Key j2, Key j3, const MatrixD &G11, const MatrixD &G12, const MatrixD &G13, const VectorD &g1, const MatrixD &G22, const MatrixD &G23, const VectorD &g2, const MatrixD &G33, const VectorD &g3, double f)

Public Member Functions inherited from gtsam::HessianFactor
Matrix	augmentedInformation () const override

Matrix	augmentedJacobian () const override

GaussianFactor::shared_ptr	clone () const override

double &	constantTerm ()

double	constantTerm () const

std::shared_ptr< GaussianConditional >	eliminateCholesky (const Ordering &keys)

bool	equals (const GaussianFactor &lf, double tol=1e-9) const override

double	error (const HybridValues &c) const override

virtual double	error (const VectorValues &c) const

double	error (const VectorValues &c) const override

DenseIndex	getDim (const_iterator variable) const override

Vector	gradient (Key key, const VectorValues &x) const override

VectorValues	gradientAtZero () const override
	eta for Hessian More...

std::map< Key, Matrix >	hessianBlockDiagonal () const override
	Return the block diagonal of the Hessian for this factor. More...

void	hessianDiagonalAdd (VectorValues &d) const override
	Add the current diagonal to a VectorValues instance. More...

	HessianFactor ()

	HessianFactor (const GaussianFactor &factor)

	HessianFactor (const GaussianFactorGraph &factors)

	HessianFactor (const GaussianFactorGraph &factors, const Scatter &scatter)

	HessianFactor (const JacobianFactor &cg)

template<typename KEYS >
	HessianFactor (const KEYS &keys, const SymmetricBlockMatrix &augmentedInformation)

	HessianFactor (const KeyVector &js, const std::vector< Matrix > &Gs, const std::vector< Vector > &gs, double f)

	HessianFactor (Key j, const Matrix &G, const Vector &g, double f)

	HessianFactor (Key j, const Vector &mu, const Matrix &Sigma)

	HessianFactor (Key j1, Key j2, const Matrix &G11, const Matrix &G12, const Vector &g1, const Matrix &G22, const Vector &g2, double f)

	HessianFactor (Key j1, Key j2, Key j3, const Matrix &G11, const Matrix &G12, const Matrix &G13, const Vector &g1, const Matrix &G22, const Matrix &G23, const Vector &g2, const Matrix &G33, const Vector &g3, double f)

SymmetricBlockMatrix &	info ()

const SymmetricBlockMatrix &	info () const
	Return underlying information matrix. More...

Matrix	information () const override

Eigen::SelfAdjointView< SymmetricBlockMatrix::constBlock, Eigen::Upper >	informationView () const
	Return self-adjoint view onto the information matrix (NOT augmented). More...

std::pair< Matrix, Vector >	jacobian () const override
	Return (dense) matrix associated with factor. More...

SymmetricBlockMatrix::Block	linearTerm ()

SymmetricBlockMatrix::constBlock	linearTerm () const

SymmetricBlockMatrix::constBlock	linearTerm (const_iterator j) const

GaussianFactor::shared_ptr	negate () const override

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

size_t	rows () const

VectorValues	solve ()
	Solve the system A'A delta = A'b in-place, return delta as VectorValues. More...

void	updateHessian (const KeyVector &keys, SymmetricBlockMatrix *info) const override

void	updateHessian (HessianFactor *other) const

	~HessianFactor () 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 ()

Private Types
typedef Eigen::Map< const VectorD >	ConstDMap

typedef Eigen::Map< VectorD >	DMap

Private Member Functions
void	checkInvariants ()
	Check invariants after construction. More...

Private Attributes
std::vector< VectorD >	y_

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::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::HessianFactor
SymmetricBlockMatrix	info_
	The full augmented information matrix, s.t. the quadratic error is 0.5*[x -1]'H[x -1]. More...

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

Detailed Description

template<size_t D>
class gtsam::RegularHessianFactor< D >

Definition at line 28 of file RegularHessianFactor.h.

Member Typedef Documentation

◆ ConstDMap

template<size_t D>

typedef Eigen::Map<const VectorD> gtsam::RegularHessianFactor< D >::ConstDMap

private

Definition at line 102 of file RegularHessianFactor.h.

◆ DMap

template<size_t D>

typedef Eigen::Map<VectorD> gtsam::RegularHessianFactor< D >::DMap

private

Definition at line 101 of file RegularHessianFactor.h.

◆ MatrixD

template<size_t D>

typedef Eigen::Matrix<double, D, D> gtsam::RegularHessianFactor< D >::MatrixD

Definition at line 33 of file RegularHessianFactor.h.

◆ VectorD

template<size_t D>

typedef Eigen::Matrix<double, D, 1> gtsam::RegularHessianFactor< D >::VectorD

Definition at line 32 of file RegularHessianFactor.h.

Constructor & Destructor Documentation

◆ RegularHessianFactor() [1/7]

template<size_t D>

gtsam::RegularHessianFactor< D >::RegularHessianFactor	(	const KeyVector &	js,
		const std::vector< Matrix > &	Gs,
		const std::vector< Vector > &	gs,
		double	f
	)

inline

Construct an n-way factor. Gs contains the upper-triangle blocks of the quadratic term (the Hessian matrix) provided in row-order, gs the pieces of the linear vector term, and f the constant term.

Definition at line 39 of file RegularHessianFactor.h.

◆ RegularHessianFactor() [2/7]

template<size_t D>

gtsam::RegularHessianFactor< D >::RegularHessianFactor	(	Key	j1,
		Key	j2,
		const MatrixD &	G11,
		const MatrixD &	G12,
		const VectorD &	g1,
		const MatrixD &	G22,
		const VectorD &	g2,
		double	f
	)

inline

Construct a binary factor. Gxx are the upper-triangle blocks of the quadratic term (the Hessian matrix), gx the pieces of the linear vector term, and f the constant term.

Definition at line 49 of file RegularHessianFactor.h.

◆ RegularHessianFactor() [3/7]

template<size_t D>

gtsam::RegularHessianFactor< D >::RegularHessianFactor	(	Key	j1,
		Key	j2,
		Key	j3,
		const MatrixD &	G11,
		const MatrixD &	G12,
		const MatrixD &	G13,
		const VectorD &	g1,
		const MatrixD &	G22,
		const MatrixD &	G23,
		const VectorD &	g2,
		const MatrixD &	G33,
		const VectorD &	g3,
		double	f
	)

inline

Construct a ternary factor. Gxx are the upper-triangle blocks of the quadratic term (the Hessian matrix), gx the pieces of the linear vector term, and f the constant term.

Definition at line 58 of file RegularHessianFactor.h.

◆ RegularHessianFactor() [4/7]

template<size_t D>

template<typename KEYS >

gtsam::RegularHessianFactor< D >::RegularHessianFactor	(	const KEYS &	keys,
		const SymmetricBlockMatrix &	augmentedInformation
	)

inline

Constructor with an arbitrary number of keys and with the augmented information matrix specified as a block matrix.

Definition at line 68 of file RegularHessianFactor.h.

◆ RegularHessianFactor() [5/7]

template<size_t D>

gtsam::RegularHessianFactor< D >::RegularHessianFactor ( const RegularJacobianFactor< D > & jf )

inline

Construct from RegularJacobianFactor.

Definition at line 75 of file RegularHessianFactor.h.

◆ RegularHessianFactor() [6/7]

template<size_t D>

gtsam::RegularHessianFactor< D >::RegularHessianFactor	(	const GaussianFactorGraph &	factors,
		const Scatter &	scatter
	)

inline

Construct from a GaussianFactorGraph.

Definition at line 79 of file RegularHessianFactor.h.

◆ RegularHessianFactor() [7/7]

template<size_t D>

gtsam::RegularHessianFactor< D >::RegularHessianFactor ( const GaussianFactorGraph & factors )

inline

Construct from a GaussianFactorGraph.

Definition at line 86 of file RegularHessianFactor.h.

Member Function Documentation

◆ checkInvariants()

template<size_t D>

void gtsam::RegularHessianFactor< D >::checkInvariants ( )

inlineprivate

Check invariants after construction.

Definition at line 94 of file RegularHessianFactor.h.

◆ gradientAtZero()

template<size_t D>

void gtsam::RegularHessianFactor< D >::gradientAtZero ( double * d ) const

inlineoverridevirtual

Add gradient at zero to d TODO: is it really the goal to add ??

Reimplemented from gtsam::HessianFactor.

Definition at line 196 of file RegularHessianFactor.h.

◆ hessianDiagonal()

template<size_t D>

void gtsam::RegularHessianFactor< D >::hessianDiagonal ( double * d ) const

inlineoverridevirtual

Return the diagonal of the Hessian for this factor (raw memory version)

Reimplemented from gtsam::HessianFactor.

Definition at line 185 of file RegularHessianFactor.h.

◆ multiplyHessianAdd() [1/3]

template<size_t D>

void gtsam::RegularHessianFactor< D >::multiplyHessianAdd	(	double	alpha,
		const double *	x,
		double *	yvalues
	)		const

inline

y += alpha * A'*A*x

Definition at line 118 of file RegularHessianFactor.h.

◆ multiplyHessianAdd() [2/3]

template<size_t D>

void gtsam::RegularHessianFactor< D >::multiplyHessianAdd	(	double	alpha,
		const double *	x,
		double *	yvalues,
		std::vector< size_t >	offsets
	)		const

inline

Raw memory version, with offsets TODO document reasoning.

Definition at line 150 of file RegularHessianFactor.h.

◆ multiplyHessianAdd() [3/3]

template<size_t D>

void gtsam::RegularHessianFactor< D >::multiplyHessianAdd	(	double	alpha,
		const VectorValues &	x,
		VectorValues &	y
	)		const

inlineoverridevirtual

y += alpha * A'*A*x

Reimplemented from gtsam::HessianFactor.

Definition at line 112 of file RegularHessianFactor.h.

Member Data Documentation

◆ y_

template<size_t D>

std::vector<VectorD> gtsam::RegularHessianFactor< D >::y_

mutableprivate

Definition at line 107 of file RegularHessianFactor.h.

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

RegularHessianFactor.h

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<size_t D> class gtsam::RegularHessianFactor< D >

Member Typedef Documentation

◆ ConstDMap

◆ DMap

◆ MatrixD

◆ VectorD

Constructor & Destructor Documentation

◆ RegularHessianFactor() [1/7]

◆ RegularHessianFactor() [2/7]

◆ RegularHessianFactor() [3/7]

◆ RegularHessianFactor() [4/7]

◆ RegularHessianFactor() [5/7]

◆ RegularHessianFactor() [6/7]

◆ RegularHessianFactor() [7/7]

Member Function Documentation

◆ checkInvariants()

◆ gradientAtZero()

◆ hessianDiagonal()

◆ multiplyHessianAdd() [1/3]

◆ multiplyHessianAdd() [2/3]

◆ multiplyHessianAdd() [3/3]

Member Data Documentation

◆ y_

template<size_t D>
class gtsam::RegularHessianFactor< D >