#include <NonlinearFactor.h>
Public Types | |
| typedef VALUE1 | X1 |
| typedef VALUE2 | X2 |
 Public Types inherited from gtsam::NoiseModelFactor | |
| 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 | |
| virtual Vector | evaluateError (const X1 &, const X2 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const =0 |
| Key | key1 () const |
| Key | key2 () const |
| NoiseModelFactor2 () | |
| NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2) | |
| Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override |
| ~NoiseModelFactor2 () override | |
| Public Member Functions inherited from gtsam::NoiseModelFactor | |
| shared_ptr | cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const |
| size_t | dim () const override |
| bool | equals (const NonlinearFactor &f, double tol=1e-9) const override |
| double | error (const Values &c) const override |
| boost::shared_ptr< GaussianFactor > | linearize (const Values &x) const override |
| const SharedNoiseModel & | noiseModel () const |
| access to the noise model More... | |
| NoiseModelFactor () | |
| template<typename CONTAINER > | |
| NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys) | |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| Vector | unweightedWhitenedError (const Values &c) const |
| double | weight (const Values &c) const |
| Vector | whitenedError (const Values &c) const |
| ~NoiseModelFactor () override | |
| Public Member Functions inherited from gtsam::NonlinearFactor | |
| NonlinearFactor () | |
| template<typename CONTAINER > | |
| NonlinearFactor (const CONTAINER &keys) | |
| virtual | ~NonlinearFactor () |
| virtual bool | active (const Values &) const |
| 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 Types | |
| typedef NoiseModelFactor | Base |
| typedef NoiseModelFactor2< VALUE1, VALUE2 > | This |
| Protected Types inherited from gtsam::NoiseModelFactor | |
| typedef NonlinearFactor | Base |
| typedef NoiseModelFactor | This |
| Protected Types inherited from gtsam::NonlinearFactor | |
| typedef Factor | Base |
| typedef NonlinearFactor | This |
Private Member Functions | |
| template<class ARCHIVE > | |
| void | serialize (ARCHIVE &ar, const unsigned int) |
Friends | |
| class | boost::serialization::access |
Additional Inherited Members | |
| Protected Member Functions inherited from gtsam::NoiseModelFactor | |
| NoiseModelFactor (const SharedNoiseModel &noiseModel) | |
| 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::NoiseModelFactor | |
| SharedNoiseModel | noiseModel_ |
| Protected Attributes inherited from gtsam::Factor | |
| KeyVector | keys_ |
| The keys involved in this factor. More... | |
Detailed Description
template<class VALUE1, class VALUE2>
class gtsam::NoiseModelFactor2< VALUE1, VALUE2 >
A convenient base class for creating your own NoiseModelFactor with 2 variables. To derive from this class, implement evaluateError().
Definition at line 361 of file NonlinearFactor.h.
Member Typedef Documentation
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protected |
Definition at line 371 of file NonlinearFactor.h.
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protected |
Definition at line 372 of file NonlinearFactor.h.
| typedef VALUE1 gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::X1 |
Definition at line 366 of file NonlinearFactor.h.
| typedef VALUE2 gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::X2 |
Definition at line 367 of file NonlinearFactor.h.
Constructor & Destructor Documentation
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inline |
Default Constructor for I/O
Definition at line 379 of file NonlinearFactor.h.
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inline |
Constructor
- Parameters
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noiseModel shared pointer to noise model j1 key of the first variable j2 key of the second variable
Definition at line 387 of file NonlinearFactor.h.
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inlineoverride |
Definition at line 390 of file NonlinearFactor.h.
Member Function Documentation
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pure virtual |
Override this method to finish implementing a binary factor. If any of the optional Matrix reference arguments are specified, it should compute both the function evaluation and its derivative(s) in X1 (and/or X2).
Implemented in gtsam::NonlinearEquality2< VALUE >, gtsam::EssentialMatrixFactor3, simulated2D::GenericMeasurement< POSE, LANDMARK >, gtsam::FunctorizedFactor2< R, T1, T2 >, simulated2D::GenericOdometry< VALUE >, gtsam::EssentialMatrixFactor2, gtsam::MagFactor2, gtsam::FrobeniusBetweenFactor< Rot >, gtsam::BoundingConstraint2< VALUE1, VALUE2 >, gtsam::BoundingConstraint2< VALUE, VALUE >, gtsam::BoundingConstraint2< POSE, POINT >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::simulated3D::Simulated3DMeasurement, simulated2DOriented::GenericOdometry< VALUE >, gtsam::InvDepthFactorVariant2, gtsam::InvDepthFactorVariant3a, gtsam::InvDepthFactorVariant1, gtsam::BetweenFactor< VALUE >, gtsam::PoseBetweenFactor< POSE >, gtsam::GaussMarkov1stOrderFactor< VALUE >, gtsam::FrobeniusFactor< Rot >, gtsam::EssentialMatrixConstraint, gtsam::ShonanFactor< d >, gtsam::BiasedGPSFactor, gtsam::PoseToPointFactor, gtsam::TranslationFactor, gtsam::RelativeElevationFactor, gtsam::DeltaFactor, and gtsam::OrientedPlane3Factor.
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inline |
methods to retrieve both keys
Definition at line 393 of file NonlinearFactor.h.
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inline |
Definition at line 394 of file NonlinearFactor.h.
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inlineprivate |
Definition at line 426 of file NonlinearFactor.h.
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inlineoverridevirtual |
Calls the 2-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class.
Implements gtsam::NoiseModelFactor.
Definition at line 398 of file NonlinearFactor.h.
Friends And Related Function Documentation
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friend |
Serialization function
Definition at line 424 of file NonlinearFactor.h.
The documentation for this class was generated from the following file: