#include <TransformBtwRobotsUnaryFactorEM.h>
Public Types | |
typedef std::shared_ptr< TransformBtwRobotsUnaryFactorEM > | shared_ptr |
typedef VALUE | T |
Public Types inherited from gtsam::NonlinearFactor | |
typedef std::shared_ptr< This > | shared_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 | |
Vector | calcIndicatorProb (const Values &x) const |
Vector | calcIndicatorProb (const Values &x, const Vector &err) const |
NonlinearFactor::shared_ptr | clone () const override |
size_t | dim () const override |
bool | equals (const NonlinearFactor &f, double tol=1e-9) const override |
double | error (const Values &x) const override |
SharedGaussian | get_model_inlier () const |
Matrix | get_model_inlier_cov () const |
SharedGaussian | get_model_outlier () const |
Matrix | get_model_outlier_cov () const |
std::shared_ptr< GaussianFactor > | linearize (const Values &x) const override |
void | print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
void | setValAValB (const Values &valA, const Values &valB) |
TransformBtwRobotsUnaryFactorEM () | |
TransformBtwRobotsUnaryFactorEM (Key key, const VALUE &measured, Key keyA, Key keyB, const Values &valA, const Values &valB, const SharedGaussian &model_inlier, const SharedGaussian &model_outlier, const double prior_inlier, const double prior_outlier, const bool flag_bump_up_near_zero_probs=false, const bool start_with_M_step=false) | |
Vector | unwhitenedError (const Values &x) const |
void | updateNoiseModels (const Values &values, const Marginals &marginals) |
void | updateNoiseModels (const Values &values, const NonlinearFactorGraph &graph) |
void | updateNoiseModels_givenCovs (const Values &values, const Matrix &cov1, const Matrix &cov2, const Matrix &cov12) |
Vector | whitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const |
Vector | whitenedError (const Values &x, std::vector< Matrix > &H) const |
~TransformBtwRobotsUnaryFactorEM () 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 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 NonlinearFactor | Base |
typedef TransformBtwRobotsUnaryFactorEM< VALUE > | This |
Private Attributes | |
bool | flag_bump_up_near_zero_probs_ |
Key | key_ |
Key | keyA_ |
Key | keyB_ |
VALUE | measured_ |
SharedGaussian | model_inlier_ |
SharedGaussian | model_outlier_ |
double | prior_inlier_ |
double | prior_outlier_ |
bool | start_with_M_step_ |
Values | valA_ |
Values | valB_ |
Additional Inherited Members | |
Protected Types inherited from gtsam::NonlinearFactor | |
typedef Factor | Base |
typedef NonlinearFactor | This |
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::Factor | |
KeyVector | keys_ |
The keys involved in this factor. More... | |
A class for a measurement predicted by "between(config[key1],config[key2])"
VALUE | the Value type |
Definition at line 37 of file TransformBtwRobotsUnaryFactorEM.h.
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private |
Definition at line 46 of file TransformBtwRobotsUnaryFactorEM.h.
typedef std::shared_ptr<TransformBtwRobotsUnaryFactorEM> gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::shared_ptr |
concept check by type
Definition at line 75 of file TransformBtwRobotsUnaryFactorEM.h.
typedef VALUE gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::T |
Definition at line 41 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 45 of file TransformBtwRobotsUnaryFactorEM.h.
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default constructor - only use for serialization
Definition at line 78 of file TransformBtwRobotsUnaryFactorEM.h.
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Constructor
Definition at line 81 of file TransformBtwRobotsUnaryFactorEM.h.
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inlineoverride |
Definition at line 96 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 256 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 264 of file TransformBtwRobotsUnaryFactorEM.h.
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Clone
Reimplemented from gtsam::NonlinearFactor.
Definition at line 100 of file TransformBtwRobotsUnaryFactorEM.h.
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inlineoverridevirtual |
get the dimension of the factor (number of rows on linearization)
Implements gtsam::NonlinearFactor.
Definition at line 411 of file TransformBtwRobotsUnaryFactorEM.h.
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equals
Reimplemented from gtsam::NonlinearFactor.
Definition at line 122 of file TransformBtwRobotsUnaryFactorEM.h.
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inlineoverridevirtual |
Reimplemented from gtsam::NonlinearFactor.
Definition at line 154 of file TransformBtwRobotsUnaryFactorEM.h.
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inline |
Definition at line 315 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 325 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 320 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 330 of file TransformBtwRobotsUnaryFactorEM.h.
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Linearize a non-linearFactorN to get a GaussianFactor, Hence
Implements gtsam::NonlinearFactor.
Definition at line 165 of file TransformBtwRobotsUnaryFactorEM.h.
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implement functions needed for Testable print
Reimplemented from gtsam::NonlinearFactor.
Definition at line 106 of file TransformBtwRobotsUnaryFactorEM.h.
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implement functions needed to derive from Factor
Definition at line 137 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 298 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 335 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 350 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 368 of file TransformBtwRobotsUnaryFactorEM.h.
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A function overload to accept a vector<matrix> instead of a pointer to the said type.
Definition at line 185 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 251 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 65 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 48 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 54 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 55 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 50 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 59 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 60 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 62 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 63 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 66 of file TransformBtwRobotsUnaryFactorEM.h.
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The measurement
Definition at line 52 of file TransformBtwRobotsUnaryFactorEM.h.
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Definition at line 53 of file TransformBtwRobotsUnaryFactorEM.h.