#include <LinearEquality.h>

Inheritance diagram for gtsam::LinearEquality:

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

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

typedef LinearEquality	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
bool	active () const
	for active set method: equality constraints are always active More...

GaussianFactor::shared_ptr	clone () const override

Key	dualKey () const
	dual key More...

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

	LinearEquality ()

	LinearEquality (const JacobianFactor &jf, Key dualKey)

	LinearEquality (const HessianFactor &hf)

	LinearEquality (Key i1, const Matrix &A1, const Vector &b, Key dualKey)

	LinearEquality (Key i1, const Matrix &A1, Key i2, const Matrix &A2, const Vector &b, Key dualKey)

	LinearEquality (Key i1, const Matrix &A1, Key i2, const Matrix &A2, Key i3, const Matrix &A3, const Vector &b, Key dualKey)

template<typename TERMS >
	LinearEquality (const TERMS &terms, const Vector &b, Key dualKey)

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

	~LinearEquality () 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 ()

Private Attributes
Key	dualKey_

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 equality constraints, inheriting JacobianFactor with the special Constrained noise model

Definition at line 29 of file LinearEquality.h.

Member Typedef Documentation

typedef JacobianFactor gtsam::LinearEquality::Base

Typedef to base class.

Definition at line 32 of file LinearEquality.h.

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

shared_ptr to this class

Definition at line 33 of file LinearEquality.h.

typedef LinearEquality gtsam::LinearEquality::This

Typedef to this class.

Definition at line 31 of file LinearEquality.h.

Constructor & Destructor Documentation

gtsam::LinearEquality::LinearEquality ( )

inline

default constructor for I/O

Definition at line 40 of file LinearEquality.h.

gtsam::LinearEquality::LinearEquality	(	const JacobianFactor &	jf,
		Key	dualKey
	)

inlineexplicit

Construct from a constrained noisemodel JacobianFactor with a dual key.

Definition at line 47 of file LinearEquality.h.

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

inlineexplicit

Conversion from HessianFactor (does Cholesky to obtain Jacobian matrix)

Definition at line 56 of file LinearEquality.h.

gtsam::LinearEquality::LinearEquality	(	Key	i1,
		const Matrix &	A1,
		const Vector &	b,
		Key	dualKey
	)

inline

Construct unary factor

Definition at line 61 of file LinearEquality.h.

gtsam::LinearEquality::LinearEquality	(	Key	i1,
		const Matrix &	A1,
		Key	i2,
		const Matrix &	A2,
		const Vector &	b,
		Key	dualKey
	)

inline

Construct binary factor

Definition at line 66 of file LinearEquality.h.

gtsam::LinearEquality::LinearEquality	(	Key	i1,
		const Matrix &	A1,
		Key	i2,
		const Matrix &	A2,
		Key	i3,
		const Matrix &	A3,
		const Vector &	b,
		Key	dualKey
	)

inline

Construct ternary factor

Definition at line 73 of file LinearEquality.h.

template<typename TERMS >

gtsam::LinearEquality::LinearEquality	(	const TERMS &	terms,
		const Vector &	b,
		Key	dualKey
	)

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 83 of file LinearEquality.h.

gtsam::LinearEquality::~LinearEquality ( )

inlineoverride

Virtual destructor

Definition at line 88 of file LinearEquality.h.

Member Function Documentation

bool gtsam::LinearEquality::active ( ) const

inline

for active set method: equality constraints are always active

Definition at line 114 of file LinearEquality.h.

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

inlineoverridevirtual

Clone this LinearEquality

Reimplemented from gtsam::JacobianFactor.

Definition at line 103 of file LinearEquality.h.

Key gtsam::LinearEquality::dualKey ( ) const

inline

dual key

Definition at line 109 of file LinearEquality.h.

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

inlineoverridevirtual

equals

Reimplemented from gtsam::JacobianFactor.

Definition at line 92 of file LinearEquality.h.

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

inlineoverridevirtual

Special error for constraints. I think it should be zero, as this function is meant for objective cost. But the name "error" can be misleading. TODO: confirm with Frank!!

Reimplemented from gtsam::JacobianFactor.

Definition at line 127 of file LinearEquality.h.

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

inline

Special error_vector for constraints (A*x-b)

Definition at line 119 of file LinearEquality.h.

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

inlineoverridevirtual

print

Reimplemented from gtsam::JacobianFactor.

Definition at line 97 of file LinearEquality.h.

Member Data Documentation

Key gtsam::LinearEquality::dualKey_

private

Definition at line 36 of file LinearEquality.h.

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

LinearEquality.h

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation