#include <LinearCost.h>

Inheritance diagram for gtsam::LinearCost:

Public Types
typedef JacobianFactor	Base
	Typedef to base class. More...

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

typedef LinearCost	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 Member Functions
GaussianFactor::shared_ptr	clone () 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

	LinearCost ()

	LinearCost (const HessianFactor &hf)

	LinearCost (const JacobianFactor &jf)

	LinearCost (Key i1, const RowVector &A1)

	LinearCost (Key i1, const RowVector &A1, Key i2, const RowVector &A2, double b)

	LinearCost (Key i1, const RowVector &A1, Key i2, const RowVector &A2, Key i3, const RowVector &A3)

template<typename TERMS >
	LinearCost (const TERMS &terms)

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

	~LinearCost () override

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

Matrix	augmentedJacobian () const override

Matrix	augmentedJacobianUnweighted () const

size_t	cols () const

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

bool	empty () 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

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 ()

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

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...

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...

Detailed Description

This class defines a linear cost function c'x which is a JacobianFactor with only one row

Definition at line 31 of file LinearCost.h.

Member Typedef Documentation

typedef JacobianFactor gtsam::LinearCost::Base

Typedef to base class.

Definition at line 34 of file LinearCost.h.

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

shared_ptr to this class

Definition at line 35 of file LinearCost.h.

typedef LinearCost gtsam::LinearCost::This

Typedef to this class.

Definition at line 33 of file LinearCost.h.

Constructor & Destructor Documentation

gtsam::LinearCost::LinearCost ( )

inline

default constructor for I/O

Definition at line 39 of file LinearCost.h.

gtsam::LinearCost::LinearCost ( const HessianFactor & hf )

inlineexplicit

Conversion from HessianFactor

Definition at line 44 of file LinearCost.h.

gtsam::LinearCost::LinearCost ( const JacobianFactor & jf )

inlineexplicit

Conversion from JacobianFactor

Definition at line 49 of file LinearCost.h.

gtsam::LinearCost::LinearCost	(	Key	i1,
		const RowVector &	A1
	)

inline

Construct unary factor

Definition at line 63 of file LinearCost.h.

gtsam::LinearCost::LinearCost	(	Key	i1,
		const RowVector &	A1,
		Key	i2,
		const RowVector &	A2,
		double	b
	)

inline

Construct binary factor

Definition at line 68 of file LinearCost.h.

gtsam::LinearCost::LinearCost	(	Key	i1,
		const RowVector &	A1,
		Key	i2,
		const RowVector &	A2,
		Key	i3,
		const RowVector &	A3
	)

inline

Construct ternary factor

Definition at line 73 of file LinearCost.h.

template<typename TERMS >

gtsam::LinearCost::LinearCost ( const TERMS & terms )

inline

Construct an n-ary factor

Template Parameters

TERMS A container whose value type is std::pair<Key, Matrix>, specifying the collection of keys and matrices making up the factor.

Definition at line 82 of file LinearCost.h.

gtsam::LinearCost::~LinearCost ( )

inlineoverride

Virtual destructor

Definition at line 87 of file LinearCost.h.

Member Function Documentation

GaussianFactor::shared_ptr gtsam::LinearCost::clone ( ) const

inlineoverridevirtual

Clone this LinearCost

Reimplemented from gtsam::JacobianFactor.

Definition at line 102 of file LinearCost.h.

bool gtsam::LinearCost::equals	(	const GaussianFactor &	lf,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::JacobianFactor.

Definition at line 91 of file LinearCost.h.

double gtsam::LinearCost::error ( const VectorValues & c ) const

inlineoverridevirtual

Special error for single-valued inequality constraints.

Reimplemented from gtsam::JacobianFactor.

Definition at line 113 of file LinearCost.h.

Vector gtsam::LinearCost::error_vector ( const VectorValues & c ) const

inline

Special error_vector for constraints (A*x-b)

Definition at line 108 of file LinearCost.h.

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

inlineoverridevirtual

print

Reimplemented from gtsam::JacobianFactor.

Definition at line 96 of file LinearCost.h.

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

LinearCost.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation