#include <GaussianDensity.h>

Inheritance diagram for gtsam::GaussianDensity:

[legend]

Public Types
typedef boost::shared_ptr< GaussianDensity >	shared_ptr

Public Types inherited from gtsam::GaussianConditional
typedef Conditional< BaseFactor, This >	BaseConditional
	Typedef to our conditional base class. More...

typedef JacobianFactor	BaseFactor
	Typedef to our factor base class. More...

typedef boost::shared_ptr< This >	shared_ptr
	shared_ptr to this class More...

typedef GaussianConditional	This
	Typedef to this class. More...

Public Types inherited from gtsam::JacobianFactor
typedef VerticalBlockMatrix::Block	ABlock

typedef GaussianFactor	Base
	Typedef to base class. More...

typedef ABlock::ColXpr	BVector

typedef VerticalBlockMatrix::constBlock	constABlock

typedef constABlock::ConstColXpr	constBVector

typedef boost::shared_ptr< This >	shared_ptr
	shared_ptr to this class More...

typedef JacobianFactor	This
	Typedef to this class. More...

Public Types inherited from gtsam::GaussianFactor
typedef Factor	Base
	Our base class. More...

typedef boost::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 Types inherited from gtsam::Conditional< JacobianFactor, GaussianConditional >
typedef boost::iterator_range< typename JacobianFactor::const_iterator >	Frontals

typedef boost::iterator_range< typename JacobianFactor::const_iterator >	Parents

Public Member Functions
Matrix	covariance () const
	Covariance matrix $\Sigma = (R^T R)^{-1}$ . More...

	GaussianDensity ()
	default constructor needed for serialization More...

	GaussianDensity (const GaussianConditional &conditional)
	Copy constructor from GaussianConditional. More...

	GaussianDensity (Key key, const Vector &d, const Matrix &R, const SharedDiagonal &noiseModel=SharedDiagonal())
	constructor using d, R More...

Vector	mean () const
	Mean $\mu = R^{-1} d$ . More...

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

Public Member Functions inherited from gtsam::GaussianConditional
const constBVector	d () const

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

	GaussianConditional ()

	GaussianConditional (Key key, const Vector &d, const Matrix &R, const SharedDiagonal &sigmas=SharedDiagonal())

	GaussianConditional (Key key, const Vector &d, const Matrix &R, Key name1, const Matrix &S, const SharedDiagonal &sigmas=SharedDiagonal())

	GaussianConditional (Key key, const Vector &d, const Matrix &R, Key name1, const Matrix &S, Key name2, const Matrix &T, const SharedDiagonal &sigmas=SharedDiagonal())

template<typename TERMS >
	GaussianConditional (const TERMS &terms, size_t nrFrontals, const Vector &d, const SharedDiagonal &sigmas=SharedDiagonal())

template<typename KEYS >
	GaussianConditional (const KEYS &keys, size_t nrFrontals, const VerticalBlockMatrix &augmentedMatrix, const SharedDiagonal &sigmas=SharedDiagonal())

constABlock	R () const

constABlock	S () const

constABlock	S (const_iterator it) const

void	scaleFrontalsBySigma (VectorValues &gy) const

VectorValues	solve (const VectorValues &parents) const

VectorValues	solveOtherRHS (const VectorValues &parents, const VectorValues &rhs) const

void	solveTransposeInPlace (VectorValues &gy) const

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

Matrix	augmentedJacobian () const override

Matrix	augmentedJacobianUnweighted () const

GaussianFactor::shared_ptr	clone () const override

size_t	cols () const

std::pair< boost::shared_ptr< GaussianConditional >, shared_ptr >	eliminate (const Ordering &keys)

bool	empty () const override

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

double	error (const VectorValues &c) const override

Vector	error_vector (const VectorValues &c) const

const SharedDiagonal &	get_model () const

SharedDiagonal &	get_model ()

constABlock	getA (const_iterator variable) const

constABlock	getA () const

ABlock	getA (iterator variable)

ABlock	getA ()

const constBVector	getb () const

BVector	getb ()

DenseIndex	getDim (const_iterator variable) const override

Vector	gradient (Key key, const VectorValues &x) const override
	Compute the gradient wrt a key at any values. More...

VectorValues	gradientAtZero () const override
	A'*b for Jacobian. More...

void	gradientAtZero (double *d) const override
	A'*b for Jacobian (raw memory version) More...

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

void	hessianDiagonal (double *d) const override
	Raw memory access version of hessianDiagonal. More...

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

Matrix	information () const override

bool	isConstrained () const

std::pair< Matrix, Vector >	jacobian () const override
	Returns (dense) A,b pair associated with factor, bakes in the weights. More...

	JacobianFactor (const GaussianFactor &gf)

	JacobianFactor (const JacobianFactor &jf)

	JacobianFactor (const HessianFactor &hf)

	JacobianFactor ()

	JacobianFactor (const Vector &b_in)

	JacobianFactor (Key i1, const Matrix &A1, const Vector &b, const SharedDiagonal &model=SharedDiagonal())

	JacobianFactor (Key i1, const Matrix &A1, Key i2, const Matrix &A2, const Vector &b, const SharedDiagonal &model=SharedDiagonal())

	JacobianFactor (Key i1, const Matrix &A1, Key i2, const Matrix &A2, Key i3, const Matrix &A3, const Vector &b, const SharedDiagonal &model=SharedDiagonal())

template<typename TERMS >
	JacobianFactor (const TERMS &terms, const Vector &b, const SharedDiagonal &model=SharedDiagonal())

template<typename KEYS >
	JacobianFactor (const KEYS &keys, const VerticalBlockMatrix &augmentedMatrix, const SharedDiagonal &sigmas=SharedDiagonal())

	JacobianFactor (const GaussianFactorGraph &graph)

	JacobianFactor (const GaussianFactorGraph &graph, const VariableSlots &p_variableSlots)

	JacobianFactor (const GaussianFactorGraph &graph, const Ordering &ordering)

	JacobianFactor (const GaussianFactorGraph &graph, const Ordering &ordering, const VariableSlots &p_variableSlots)

std::pair< Matrix, Vector >	jacobianUnweighted () const
	Returns (dense) A,b pair associated with factor, does not bake in weights. More...

const VerticalBlockMatrix &	matrixObject () const

VerticalBlockMatrix &	matrixObject ()

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

void	multiplyHessianAdd (double alpha, const double x, double y, const std::vector< size_t > &accumulatedDims) const

GaussianFactor::shared_ptr	negate () const override

Vector	operator* (const VectorValues &x) const

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

size_t	rows () const

void	setModel (bool anyConstrained, const Vector &sigmas)

boost::shared_ptr< GaussianConditional >	splitConditional (size_t nrFrontals)

void	transposeMultiplyAdd (double alpha, const Vector &e, VectorValues &x) const

Vector	unweighted_error (const VectorValues &c) const

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

JacobianFactor	whiten () const

	~JacobianFactor () override

Public Member Functions inherited from gtsam::GaussianFactor
	GaussianFactor ()

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

VectorValues	hessianDiagonal () const
	Return the diagonal of the Hessian for this factor. More...

virtual	~GaussianFactor ()

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

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Public Member Functions inherited from gtsam::Conditional< JacobianFactor, GaussianConditional >
void	print (const std::string &s="Conditional", const KeyFormatter &formatter=DefaultKeyFormatter) const

bool	equals (const This &c, double tol=1e-9) const

size_t	nrFrontals () const

size_t	nrParents () const

Key	firstFrontalKey () const

Frontals	frontals () const

Parents	parents () const

JacobianFactor::const_iterator	beginFrontals () const

JacobianFactor::const_iterator	endFrontals () const

JacobianFactor::const_iterator	beginParents () const

JacobianFactor::const_iterator	endParents () const

size_t &	nrFrontals ()

JacobianFactor::iterator	beginFrontals ()

JacobianFactor::iterator	endFrontals ()

JacobianFactor::iterator	beginParents ()

JacobianFactor::iterator	endParents ()

Static Public Member Functions
static GaussianDensity	FromMeanAndStddev (Key key, const Vector &mean, const double &sigma)
	Construct using a mean and variance. More...

Static Public Member Functions inherited from gtsam::GaussianConditional
template<typename ITERATOR >
static shared_ptr	Combine (ITERATOR firstConditional, ITERATOR lastConditional)

Static Public Member Functions inherited from gtsam::GaussianFactor
template<typename CONTAINER >
static DenseIndex	Slot (const CONTAINER &keys, Key key)

Additional Inherited Members
Protected Member Functions inherited from gtsam::JacobianFactor
template<typename TERMS >
void	fillTerms (const TERMS &terms, const Vector &b, const SharedDiagonal &noiseModel)
	Internal function to fill blocks and set dimensions. More...

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...

Protected Member Functions inherited from gtsam::Conditional< JacobianFactor, GaussianConditional >
	Conditional ()

	Conditional (size_t nrFrontals)

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::JacobianFactor
VerticalBlockMatrix	Ab_

noiseModel::Diagonal::shared_ptr	model_

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

Protected Attributes inherited from gtsam::Conditional< JacobianFactor, GaussianConditional >
size_t	nrFrontals_

Detailed Description

A Gaussian density.

It is implemented as a GaussianConditional without parents. The negative log-probability is given by $ |Rx - d|^2 $ with $\Lambda = \Sigma^{-1} = R^T R$ and $\mu = R^{-1} d$

Definition at line 33 of file GaussianDensity.h.

Member Typedef Documentation

typedef boost::shared_ptr<GaussianDensity> gtsam::GaussianDensity::shared_ptr

Definition at line 37 of file GaussianDensity.h.

Constructor & Destructor Documentation

gtsam::GaussianDensity::GaussianDensity ( )

inline

default constructor needed for serialization

Definition at line 40 of file GaussianDensity.h.

gtsam::GaussianDensity::GaussianDensity ( const GaussianConditional & conditional )

inline

Copy constructor from GaussianConditional.

Definition at line 45 of file GaussianDensity.h.

gtsam::GaussianDensity::GaussianDensity	(	Key	key,
		const Vector &	d,
		const Matrix &	R,
		const SharedDiagonal &	noiseModel = `SharedDiagonal()`
	)

inline

constructor using d, R

Definition at line 52 of file GaussianDensity.h.

Member Function Documentation

Matrix gtsam::GaussianDensity::covariance ( ) const

Covariance matrix $\Sigma = (R^T R)^{-1}$ .

Definition at line 51 of file GaussianDensity.cpp.

GaussianDensity gtsam::GaussianDensity::FromMeanAndStddev	(	Key	key,
		const Vector &	mean,
		const double &	sigma
	)

static

Construct using a mean and variance.

Definition at line 26 of file GaussianDensity.cpp.

Vector gtsam::GaussianDensity::mean ( ) const

Mean $\mu = R^{-1} d$ .

Definition at line 45 of file GaussianDensity.cpp.

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

overridevirtual

print

Reimplemented from gtsam::GaussianConditional.

Definition at line 32 of file GaussianDensity.cpp.

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

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation