#include <BetweenFactorEM.h>

Inheritance diagram for gtsam::BetweenFactorEM< VALUE >:

Public Types
typedef VALUE	T

Public Types inherited from gtsam::NonlinearFactor
typedef boost::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...

Private Types
typedef NonlinearFactor	Base

typedef BetweenFactorEM< VALUE >	This

Private Member Functions
GTSAM_CONCEPT_LIE_TYPE(T) GTSAM_CONCEPT_TESTABLE_TYPE(T) public	BetweenFactorEM ()

	BetweenFactorEM (Key key1, Key key2, const VALUE &measured, 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)

Vector	calcIndicatorProb (const Values &x) const

size_t	dim () const override

bool	equals (const NonlinearFactor &f, double tol=1e-9) const override

double	error (const Values &x) const override

bool	get_flag_bump_up_near_zero_probs () const

SharedGaussian	get_model_inlier () const

Matrix	get_model_inlier_cov () const

SharedGaussian	get_model_outlier () const

Matrix	get_model_outlier_cov () const

boost::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

const VALUE &	measured () const

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

template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

void	set_flag_bump_up_near_zero_probs (bool flag)

Vector	unwhitenedError (const Values &x) const

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, boost::optional< std::vector< Matrix > & > H=boost::none) const

	~BetweenFactorEM () override

Private Attributes
bool	flag_bump_up_near_zero_probs_

Key	key1_

Key	key2_

VALUE	measured_

SharedGaussian	model_inlier_

SharedGaussian	model_outlier_

double	prior_inlier_

double	prior_outlier_

Friends
class	boost::serialization::access

Additional Inherited Members
Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)

virtual	~NonlinearFactor ()

virtual bool	active (const Values &) const

virtual shared_ptr	clone () const

shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const

shared_ptr	rekey (const KeyVector &new_keys) const

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor. More...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys 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

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)

bool	equals (const This &other, double tol=1e-9) const
	check equality More...

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...

Detailed Description

template<class VALUE>
class gtsam::BetweenFactorEM< VALUE >

Definition at line 34 of file BetweenFactorEM.h.

Member Typedef Documentation

template<class VALUE>

typedef NonlinearFactor gtsam::BetweenFactorEM< VALUE >::Base

private

Definition at line 43 of file BetweenFactorEM.h.

template<class VALUE>

typedef VALUE gtsam::BetweenFactorEM< VALUE >::T

Definition at line 38 of file BetweenFactorEM.h.

template<class VALUE>

typedef BetweenFactorEM<VALUE> gtsam::BetweenFactorEM< VALUE >::This

private

Definition at line 42 of file BetweenFactorEM.h.

Constructor & Destructor Documentation

template<class VALUE>

GTSAM_CONCEPT_LIE_TYPE (T)GTSAM_CONCEPT_TESTABLE_TYPE(T) public gtsam::BetweenFactorEM< VALUE >::BetweenFactorEM ( )

inlineprivate

concept check by type default constructor - only use for serialization

Definition at line 67 of file BetweenFactorEM.h.

template<class VALUE>

gtsam::BetweenFactorEM< VALUE >::BetweenFactorEM	(	Key	key1,
		Key	key2,
		const VALUE &	measured,
		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`
	)

inlineprivate

Constructor

Definition at line 71 of file BetweenFactorEM.h.

template<class VALUE>

gtsam::BetweenFactorEM< VALUE >::~BetweenFactorEM ( )

inlineoverrideprivate

Definition at line 81 of file BetweenFactorEM.h.

Member Function Documentation

template<class VALUE>

Vector gtsam::BetweenFactorEM< VALUE >::calcIndicatorProb ( const Values & x ) const

inlineprivate

Definition at line 231 of file BetweenFactorEM.h.

template<class VALUE>

size_t gtsam::BetweenFactorEM< VALUE >::dim ( ) const

inlineoverrideprivatevirtual

get the dimension of the factor (number of rows on linearization)

Implements gtsam::NonlinearFactor.

Definition at line 405 of file BetweenFactorEM.h.

template<class VALUE>

bool gtsam::BetweenFactorEM< VALUE >::equals	(	const NonlinearFactor &	f,
		double	tol = `1e-9`
	)		const

inlineoverrideprivatevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Definition at line 100 of file BetweenFactorEM.h.

template<class VALUE>

double gtsam::BetweenFactorEM< VALUE >::error ( const Values & x ) const

inlineoverrideprivatevirtual

implement functions needed to derive from Factor

Implements gtsam::NonlinearFactor.

Definition at line 117 of file BetweenFactorEM.h.

template<class VALUE>

bool gtsam::BetweenFactorEM< VALUE >::get_flag_bump_up_near_zero_probs ( ) const

inlineprivate

Definition at line 305 of file BetweenFactorEM.h.

template<class VALUE>

SharedGaussian gtsam::BetweenFactorEM< VALUE >::get_model_inlier ( ) const

inlineprivate

Definition at line 310 of file BetweenFactorEM.h.

template<class VALUE>

Matrix gtsam::BetweenFactorEM< VALUE >::get_model_inlier_cov ( ) const

inlineprivate

Definition at line 320 of file BetweenFactorEM.h.

template<class VALUE>

SharedGaussian gtsam::BetweenFactorEM< VALUE >::get_model_outlier ( ) const

inlineprivate

Definition at line 315 of file BetweenFactorEM.h.

template<class VALUE>

Matrix gtsam::BetweenFactorEM< VALUE >::get_model_outlier_cov ( ) const

inlineprivate

Definition at line 325 of file BetweenFactorEM.h.

template<class VALUE>

boost::shared_ptr<GaussianFactor> gtsam::BetweenFactorEM< VALUE >::linearize ( const Values & x ) const

inlineoverrideprivatevirtual

Linearize a non-linearFactorN to get a GaussianFactor, $Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z$ Hence $b = z - h(x) = - \mathtt{error\_vector}(x)$

Implements gtsam::NonlinearFactor.

Definition at line 128 of file BetweenFactorEM.h.

template<class VALUE>

const VALUE& gtsam::BetweenFactorEM< VALUE >::measured ( ) const

inlineprivate

return the measured

Definition at line 401 of file BetweenFactorEM.h.

template<class VALUE>

void gtsam::BetweenFactorEM< VALUE >::print	(	const std::string &	s,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverrideprivatevirtual

implement functions needed for Testable print

Reimplemented from gtsam::NonlinearFactor.

Definition at line 87 of file BetweenFactorEM.h.

template<class VALUE>

template<class ARCHIVE >

void gtsam::BetweenFactorEM< VALUE >::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 414 of file BetweenFactorEM.h.

template<class VALUE>

void gtsam::BetweenFactorEM< VALUE >::set_flag_bump_up_near_zero_probs ( bool flag )

inlineprivate

Definition at line 300 of file BetweenFactorEM.h.

template<class VALUE>

Vector gtsam::BetweenFactorEM< VALUE >::unwhitenedError ( const Values & x ) const

inlineprivate

Definition at line 287 of file BetweenFactorEM.h.

template<class VALUE>

void gtsam::BetweenFactorEM< VALUE >::updateNoiseModels	(	const Values &	values,
		const NonlinearFactorGraph &	graph
	)

inlineprivate

Definition at line 330 of file BetweenFactorEM.h.

template<class VALUE>

void gtsam::BetweenFactorEM< VALUE >::updateNoiseModels_givenCovs	(	const Values &	values,
		const Matrix &	cov1,
		const Matrix &	cov2,
		const Matrix &	cov12
	)

inlineprivate

Definition at line 355 of file BetweenFactorEM.h.

template<class VALUE>

Vector gtsam::BetweenFactorEM< VALUE >::whitenedError	(	const Values &	x,
		boost::optional< std::vector< Matrix > & >	H = `boost::none`
	)		const

inlineprivate

Definition at line 146 of file BetweenFactorEM.h.

Friends And Related Function Documentation

template<class VALUE>

friend class boost::serialization::access

friend

Serialization function

Definition at line 412 of file BetweenFactorEM.h.

Member Data Documentation

template<class VALUE>

bool gtsam::BetweenFactorEM< VALUE >::flag_bump_up_near_zero_probs_

private

Definition at line 56 of file BetweenFactorEM.h.

template<class VALUE>

Key gtsam::BetweenFactorEM< VALUE >::key1_

private

Definition at line 45 of file BetweenFactorEM.h.

template<class VALUE>

Key gtsam::BetweenFactorEM< VALUE >::key2_

private

Definition at line 46 of file BetweenFactorEM.h.

template<class VALUE>

VALUE gtsam::BetweenFactorEM< VALUE >::measured_

private

Definition at line 48 of file BetweenFactorEM.h.

template<class VALUE>

SharedGaussian gtsam::BetweenFactorEM< VALUE >::model_inlier_

private

The measurement

Definition at line 50 of file BetweenFactorEM.h.

template<class VALUE>

SharedGaussian gtsam::BetweenFactorEM< VALUE >::model_outlier_

private

Definition at line 51 of file BetweenFactorEM.h.

template<class VALUE>

double gtsam::BetweenFactorEM< VALUE >::prior_inlier_

private

Definition at line 53 of file BetweenFactorEM.h.

template<class VALUE>

double gtsam::BetweenFactorEM< VALUE >::prior_outlier_

private

Definition at line 54 of file BetweenFactorEM.h.

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

BetweenFactorEM.h

Public Types

Private Types

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

template<class VALUE> class gtsam::BetweenFactorEM< VALUE >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class VALUE>
class gtsam::BetweenFactorEM< VALUE >