#include <LinearizedFactor.h>

Inheritance diagram for gtsam::LinearizedGaussianFactor:

[legend]

Public Types
typedef NonlinearFactor	Base

typedef boost::shared_ptr< LinearizedGaussianFactor >	shared_ptr

typedef LinearizedGaussianFactor	This

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
const Values &	linearizationPoint () const

	LinearizedGaussianFactor ()

	LinearizedGaussianFactor (const GaussianFactor::shared_ptr &gaussian, const Values &lin_points)

	~LinearizedGaussianFactor () override

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

virtual	~NonlinearFactor ()

virtual double	error (const Values &c) const =0

virtual size_t	dim () const =0

virtual bool	active (const Values &) const

virtual boost::shared_ptr< GaussianFactor >	linearize (const Values &c) const =0

virtual shared_ptr	clone () 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 ()

Protected Attributes
Values	lin_points_

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
Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

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)

Detailed Description

A base factor class for the Jacobian and Hessian linearized factors

Definition at line 31 of file LinearizedFactor.h.

Member Typedef Documentation

typedef NonlinearFactor gtsam::LinearizedGaussianFactor::Base

base type

Definition at line 34 of file LinearizedFactor.h.

typedef boost::shared_ptr<LinearizedGaussianFactor> gtsam::LinearizedGaussianFactor::shared_ptr

shared pointer for convenience

Definition at line 38 of file LinearizedFactor.h.

typedef LinearizedGaussianFactor gtsam::LinearizedGaussianFactor::This

Definition at line 35 of file LinearizedFactor.h.

Constructor & Destructor Documentation

gtsam::LinearizedGaussianFactor::LinearizedGaussianFactor ( )

inline

default constructor for serialization

Definition at line 48 of file LinearizedFactor.h.

gtsam::LinearizedGaussianFactor::LinearizedGaussianFactor	(	const GaussianFactor::shared_ptr &	gaussian,
		const Values &	lin_points
	)

Parameters

gaussian	A jacobian or hessian factor
lin_points	The linearization points for, at least, the variables used by this factor

Definition at line 24 of file LinearizedFactor.cpp.

gtsam::LinearizedGaussianFactor::~LinearizedGaussianFactor ( )

inlineoverride

Definition at line 56 of file LinearizedFactor.h.

Member Function Documentation

const Values& gtsam::LinearizedGaussianFactor::linearizationPoint ( ) const

inline

Definition at line 59 of file LinearizedFactor.h.

template<class ARCHIVE >

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

inlineprivate

Definition at line 65 of file LinearizedFactor.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 63 of file LinearizedFactor.h.

Member Data Documentation

Values gtsam::LinearizedGaussianFactor::lin_points_

protected

linearization points for error calculation

Definition at line 43 of file LinearizedFactor.h.

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

Public Types

Public Member Functions

Protected Attributes

Private Member Functions