gtsam::LinearContainerFactor Class Reference

#include <LinearContainerFactor.h>

Inheritance diagram for gtsam::LinearContainerFactor:

Public Types
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
NonlinearFactor::shared_ptr	clone () const override
GTSAM_EXPORT size_t	dim () const override
GTSAM_EXPORT bool	equals (const NonlinearFactor &f, double tol=1e-9) const override
GTSAM_EXPORT double	error (const Values &c) const override
const GaussianFactor::shared_ptr &	factor () const
bool	hasLinearizationPoint () const
GTSAM_EXPORT bool	isHessian () const
GTSAM_EXPORT bool	isJacobian () const
GTSAM_EXPORT	LinearContainerFactor (const JacobianFactor &factor, const Values &linearizationPoint=Values())
GTSAM_EXPORT	LinearContainerFactor (const HessianFactor &factor, const Values &linearizationPoint=Values())
GTSAM_EXPORT	LinearContainerFactor (const GaussianFactor::shared_ptr &factor, const Values &linearizationPoint=Values())
const boost::optional< Values > &	linearizationPoint () const
GTSAM_EXPORT GaussianFactor::shared_ptr	linearize (const Values &c) const override
GTSAM_EXPORT GaussianFactor::shared_ptr	negateToGaussian () const
GTSAM_EXPORT NonlinearFactor::shared_ptr	negateToNonlinear () const
GTSAM_EXPORT void	print (const std::string &s="", const KeyFormatter &keyFormatter=gtsam::DefaultKeyFormatter) const override
GTSAM_EXPORT boost::shared_ptr< HessianFactor >	toHessian () const
GTSAM_EXPORT boost::shared_ptr< JacobianFactor >	toJacobian () const
Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()
template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
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...
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 ()

Static Public Member Functions
static GTSAM_EXPORT NonlinearFactorGraph	ConvertLinearGraph (const GaussianFactorGraph &linear_graph, const Values &linearizationPoint=Values())

Protected Types
typedef NonlinearFactor	Base
typedef LinearContainerFactor	This
Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base
typedef NonlinearFactor	This

Protected Member Functions
GTSAM_EXPORT void	initializeLinearizationPoint (const Values &linearizationPoint)
	LinearContainerFactor ()
GTSAM_EXPORT	LinearContainerFactor (const GaussianFactor::shared_ptr &factor, const boost::optional< Values > &linearizationPoint)
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 Attributes
GaussianFactor::shared_ptr	factor_
boost::optional< Values >	linearizationPoint_
Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

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

Friends
class	boost::serialization::access

Additional Inherited Members
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)

Detailed Description

Dummy version of a generic linear factor to be injected into a nonlinear factor graph

This factor does have the ability to perform relinearization under small-angle and linearity assumptions if a linearization point is added.

Definition at line 26 of file LinearContainerFactor.h.

Member Typedef Documentation

typedef NonlinearFactor gtsam::LinearContainerFactor::Base

protected

Definition at line 39 of file LinearContainerFactor.h.

typedef boost::shared_ptr<This> gtsam::LinearContainerFactor::shared_ptr

Definition at line 44 of file LinearContainerFactor.h.

typedef LinearContainerFactor gtsam::LinearContainerFactor::This

protected

Definition at line 40 of file LinearContainerFactor.h.

Constructor & Destructor Documentation

gtsam::LinearContainerFactor::LinearContainerFactor ( )

inlineprotected

Default constructor - necessary for serialization

Definition at line 33 of file LinearContainerFactor.h.

gtsam::LinearContainerFactor::LinearContainerFactor ( const GaussianFactor::shared_ptr &  factor, const boost::optional< Values > &  linearizationPoint  )

protected

direct copy constructor

Definition at line 29 of file LinearContainerFactor.cpp.

gtsam::LinearContainerFactor::LinearContainerFactor	(	const JacobianFactor &	factor,
		const Values &	linearizationPoint = Values()
	)

Primary constructor: store a linear factor with optional linearization point

Definition at line 35 of file LinearContainerFactor.cpp.

gtsam::LinearContainerFactor::LinearContainerFactor	(	const HessianFactor &	factor,
		const Values &	linearizationPoint = Values()
	)

Primary constructor: store a linear factor with optional linearization point

Definition at line 42 of file LinearContainerFactor.cpp.

gtsam::LinearContainerFactor::LinearContainerFactor	(	const GaussianFactor::shared_ptr &	factor,
		const Values &	linearizationPoint = Values()
	)

Constructor from shared_ptr

Definition at line 49 of file LinearContainerFactor.cpp.

Member Function Documentation

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

inlineoverridevirtual

Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses

Clones the underlying linear factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 119 of file LinearContainerFactor.h.

NonlinearFactorGraph gtsam::LinearContainerFactor::ConvertLinearGraph ( const GaussianFactorGraph &  linear_graph, const Values &  linearizationPoint = Values()  )

static

Utility function for converting linear graphs to nonlinear graphs consisting of LinearContainerFactors.

Definition at line 168 of file LinearContainerFactor.cpp.

size_t gtsam::LinearContainerFactor::dim ( ) const

overridevirtual

get the dimension of the factor: rows of linear factor

Implements gtsam::NonlinearFactor.

Definition at line 96 of file LinearContainerFactor.cpp.

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

overridevirtual

Check if two factors are equal

Reimplemented from gtsam::NonlinearFactor.

Definition at line 65 of file LinearContainerFactor.cpp.

double gtsam::LinearContainerFactor::error ( const Values &  c ) const

overridevirtual

Calculate the nonlinear error for the factor, where the error is computed by passing the delta between linearization point and c, where delta = linearizationPoint_.localCoordinates(c), into the error function of the stored linear factor.

Returns

nonlinear error if linearizationPoint present, zero otherwise

Implements gtsam::NonlinearFactor.

Definition at line 77 of file LinearContainerFactor.cpp.

const GaussianFactor::shared_ptr& gtsam::LinearContainerFactor::factor ( ) const

inline

Definition at line 57 of file LinearContainerFactor.h.

bool gtsam::LinearContainerFactor::hasLinearizationPoint ( ) const

inline

Definition at line 125 of file LinearContainerFactor.h.

void gtsam::LinearContainerFactor::initializeLinearizationPoint ( const Values &  linearizationPoint )

protected

Definition at line 17 of file LinearContainerFactor.cpp.

bool gtsam::LinearContainerFactor::isHessian

(

)

const

Definition at line 141 of file LinearContainerFactor.cpp.

bool gtsam::LinearContainerFactor::isJacobian

(

)

const

Simple checks whether this is a Jacobian or Hessian factor

Definition at line 136 of file LinearContainerFactor.cpp.

const boost::optional<Values>& gtsam::LinearContainerFactor::linearizationPoint ( ) const

inline

Extract the linearization point used in recalculating error

Definition at line 83 of file LinearContainerFactor.h.

GaussianFactor::shared_ptr gtsam::LinearContainerFactor::linearize ( const Values &  c ) const

overridevirtual

Linearize to a GaussianFactor, with method depending on the presence of a linearizationPoint

• With no linearization point, returns a cloned version of the stored linear factor.
• With a linearization point provided, returns a relinearized version of the linearized factor.

The relinearization approach used computes a linear delta between the original linearization point and the new values c, where delta = linearizationPoint_.localCoordinates(c), and substitutes this change into the system. This substitution is only really valid for linear variable manifolds, and for any variables based on a non-commutative manifold (such as Pose2, Pose3), the relinearized version will be effective for only small angles.

TODO: better approximation of relinearization TODO: switchable modes for approximation technique

Implements gtsam::NonlinearFactor.

Definition at line 104 of file LinearContainerFactor.cpp.

GaussianFactor::shared_ptr gtsam::LinearContainerFactor::negateToGaussian

(

)

const

Creates an anti-factor directly

Definition at line 156 of file LinearContainerFactor.cpp.

NonlinearFactor::shared_ptr gtsam::LinearContainerFactor::negateToNonlinear

(

)

const

Creates the equivalent anti-factor as another LinearContainerFactor.

Definition at line 162 of file LinearContainerFactor.cpp.

void gtsam::LinearContainerFactor::print ( const std::string &  s = "", const KeyFormatter &  keyFormatter = gtsam::DefaultKeyFormatter  ) const

overridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 56 of file LinearContainerFactor.cpp.

template<class ARCHIVE >

void gtsam::LinearContainerFactor::serialize ( ARCHIVE &  ar, const unsigned  int  )

inlineprivate

Definition at line 154 of file LinearContainerFactor.h.

HessianFactor::shared_ptr gtsam::LinearContainerFactor::toHessian

(

)

const

Casts to HessianFactor

Definition at line 151 of file LinearContainerFactor.cpp.

JacobianFactor::shared_ptr gtsam::LinearContainerFactor::toJacobian

(

)

const

Casts to JacobianFactor

Definition at line 146 of file LinearContainerFactor.cpp.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 152 of file LinearContainerFactor.h.

Member Data Documentation

GaussianFactor::shared_ptr gtsam::LinearContainerFactor::factor_

protected

Definition at line 29 of file LinearContainerFactor.h.

boost::optional<Values> gtsam::LinearContainerFactor::linearizationPoint_

protected

Definition at line 30 of file LinearContainerFactor.h.

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

• LinearContainerFactor.h
• LinearContainerFactor.cpp