#include <simulated2DConstraints.h>

Inheritance diagram for simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >:

[legend]

Public Types
typedef BoundingConstraint2< POSE, POINT >	Base
	Base class for factor. More...

typedef POINT	Point
	Type of point variable constrained. More...

typedef POSE	Pose
	Type of pose variable constrained. More...

typedef MinDistanceConstraint< POSE, POINT >	This
	This class for factor. More...

Public Types inherited from gtsam::BoundingConstraint2< POSE, POINT >
typedef NoiseModelFactorN< POSE, POINT >	Base

typedef std::shared_ptr< BoundingConstraint2< POSE, POINT > >	shared_ptr

typedef POSE	X1

typedef POINT	X2

Public Types inherited from gtsam::NoiseModelFactorN< POSE, POINT >
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< This >	shared_ptr

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
gtsam::NonlinearFactor::shared_ptr	clone () const override

	MinDistanceConstraint (Key key1, Key key2, double range_bound, double mu=1000.0)

double	value (const Pose &x1, const Point &x2, OptionalMatrixType H1=OptionalNone, OptionalMatrixType H2=OptionalNone) const override

	~MinDistanceConstraint () override

Public Member Functions inherited from gtsam::BoundingConstraint2< POSE, POINT >
bool	active (const Values &c) const override

	BoundingConstraint2 (Key key1, Key key2, double threshold, bool isGreaterThan, double mu=1000.0)
	flag for greater/less than More...

Vector	evaluateError (const X1 &x1, const X2 &x2, OptionalMatrixType H1, OptionalMatrixType H2) const override

bool	isGreaterThan () const

double	threshold () const

	~BoundingConstraint2 () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< POSE, POINT >
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< GaussianFactor >	linearize (const Values &x) const override

const SharedNoiseModel &	noiseModel () 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 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 ()

Additional Inherited Members
Public Attributes inherited from gtsam::BoundingConstraint2< POSE, POINT >
bool	isGreaterThan_

double	threshold_

Protected Types inherited from gtsam::NoiseModelFactorN< POSE, POINT >
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 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)

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::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Detailed Description

template<class POSE, class POINT>
struct simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >

Binary inequality constraint forcing a minimum range NOTE: this is not a convex function! Be careful with initialization.

Template Parameters

POSE	is the type of the pose value constrained
POINT	is the type of the point value constrained

Definition at line 172 of file simulated2DConstraints.h.

Member Typedef Documentation

◆ Base

template<class POSE , class POINT >

typedef BoundingConstraint2<POSE, POINT> simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >::Base

Base class for factor.

Definition at line 173 of file simulated2DConstraints.h.

◆ Point

template<class POSE , class POINT >

typedef POINT simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >::Point

Type of point variable constrained.

Definition at line 176 of file simulated2DConstraints.h.

◆ Pose

template<class POSE , class POINT >

typedef POSE simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >::Pose

Type of pose variable constrained.

Definition at line 175 of file simulated2DConstraints.h.

◆ This

template<class POSE , class POINT >

typedef MinDistanceConstraint<POSE, POINT> simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >::This

This class for factor.

Definition at line 174 of file simulated2DConstraints.h.

Constructor & Destructor Documentation

◆ ~MinDistanceConstraint()

template<class POSE , class POINT >

simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >::~MinDistanceConstraint ( )

inlineoverride

Definition at line 178 of file simulated2DConstraints.h.

◆ MinDistanceConstraint()

template<class POSE , class POINT >

simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >::MinDistanceConstraint	(	Key	key1,
		Key	key2,
		double	range_bound,
		double	mu = `1000.0`
	)

inline

Primary constructor for factor

Parameters

key1	is the first variable key
key2	is the second variable key
range_bound	is the minimum range allowed between the variables
mu	is the gain for the penalty function

Definition at line 192 of file simulated2DConstraints.h.

Member Function Documentation

◆ clone()

template<class POSE , class POINT >

gtsam::NonlinearFactor::shared_ptr simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 181 of file simulated2DConstraints.h.

◆ value()

template<class POSE , class POINT >

double simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >::value	(	const Pose &	x1,
		const Point &	x2,
		OptionalMatrixType	H1 = `OptionalNone`,
		OptionalMatrixType	H2 = `OptionalNone`
	)		const

inlineoverridevirtual

computes the range with derivatives

Parameters

x1	is the first variable value
x2	is the second variable value
H1	is an optional Jacobian in x1
H2	is an optional Jacobian in x2

Returns: the distance between the variables

Implements gtsam::BoundingConstraint2< POSE, POINT >.

Definition at line 204 of file simulated2DConstraints.h.

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

simulated2DConstraints.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<class POSE, class POINT> struct simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >

Member Typedef Documentation

◆ Base

◆ Point

◆ Pose

◆ This

Constructor & Destructor Documentation

◆ ~MinDistanceConstraint()

◆ MinDistanceConstraint()

Member Function Documentation

◆ clone()

◆ value()

template<class POSE, class POINT>
struct simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >