#include <ExpressionFactor.h>

Inheritance diagram for gtsam::ExpressionFactorN< T, Args >:

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Public Types
using	ArrayNKeys = std::array< Key, NARY_EXPRESSION_SIZE >

Public Types inherited from gtsam::ExpressionFactor< T >
typedef boost::shared_ptr< ExpressionFactor< T > >	shared_ptr

Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< This >	shared_ptr

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...

Public Member Functions
virtual Expression< T >	expression (const ArrayNKeys &keys) const

	~ExpressionFactorN () override=default
	Destructor. More...

Public Member Functions inherited from gtsam::ExpressionFactor< T >
gtsam::NonlinearFactor::shared_ptr	clone () const override

bool	equals (const NonlinearFactor &f, double tol) const override
	equals relies on Testable traits being defined for T More...

	ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement, const Expression< T > &expression)

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

const T &	measured () const

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print relies on Testable traits being defined for T More...

Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override

	~ExpressionFactor () override
	Destructor. More...

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

boost::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

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)

virtual	~NonlinearFactor ()

virtual bool	active (const Values &) 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

Static Public Attributes
static const std::size_t	NARY_EXPRESSION_SIZE = sizeof...(Args)

Protected Member Functions
	ExpressionFactorN ()=default
	Default constructor, for serialization. More...

	ExpressionFactorN (const ArrayNKeys &keys, const SharedNoiseModel &noiseModel, const T &measurement)
	Constructor takes care of keys, but still need to call initialize. More...

Protected Member Functions inherited from gtsam::ExpressionFactor< T >
	ExpressionFactor ()

	ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement)
	Default constructor, for serialization. More...

void	initialize (const Expression< T > &expression)
	Initialize with constructor arguments. 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)

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

Private Member Functions
Expression< T >	expression () const override
	Return an expression that predicts the measurement given Values. More...

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

Friends
class	boost::serialization::access

Additional Inherited Members
Protected Types inherited from gtsam::ExpressionFactor< T >
typedef ExpressionFactor< T >	This

Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

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::ExpressionFactor< T >
FastVector< int >	dims_
	dimensions of the Jacobian matrices More...

Expression< T >	expression_
	the expression that is AD enabled More...

T	measured_
	the measurement to be compared with the expression More...

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Static Protected Attributes inherited from gtsam::ExpressionFactor< T >
static const int	Dim = traits<T>::dimension

Detailed Description

template<typename T, typename... Args>
class gtsam::ExpressionFactorN< T, Args >

N-ary variadic template for ExpressionFactor meant as a base class for N-ary factors. Enforces an 'expression' method with N keys. Derived class (an N-factor!) needs to call 'initialize'.

Does not provide backward compatible 'evaluateError'.

Template Parameters

T	Type for measurements. The rest of template arguments are types for the N key-indexed Values.

Definition at line 242 of file ExpressionFactor.h.