#include <NonlinearFactor.h>

Inheritance diagram for gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >:

Public Types
typedef VALUE1	X1

typedef VALUE2	X2

typedef VALUE3	X3

typedef VALUE4	X4

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 &, const X3 &, const X4 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none) const =0

Key	key1 () const

Key	key2 () const

Key	key3 () const

Key	key4 () const

	NoiseModelFactor4 ()

	NoiseModelFactor4 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4)

Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override

	~NoiseModelFactor4 () 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 NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >	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 VALUE3, class VALUE4>
class gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >

A convenient base class for creating your own NoiseModelFactor with 4 variables. To derive from this class, implement evaluateError().

Definition at line 513 of file NonlinearFactor.h.

Member Typedef Documentation

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>

typedef NoiseModelFactor gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::Base

protected

Definition at line 525 of file NonlinearFactor.h.

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>

typedef NoiseModelFactor4<VALUE1, VALUE2, VALUE3, VALUE4> gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::This

protected

Definition at line 526 of file NonlinearFactor.h.

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>

typedef VALUE1 gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::X1

Definition at line 518 of file NonlinearFactor.h.

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>

typedef VALUE2 gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::X2

Definition at line 519 of file NonlinearFactor.h.

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>

typedef VALUE3 gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::X3

Definition at line 520 of file NonlinearFactor.h.

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>

typedef VALUE4 gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::X4

Definition at line 521 of file NonlinearFactor.h.

Constructor & Destructor Documentation

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>

gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::NoiseModelFactor4 ( )

inline

Default Constructor for I/O

Definition at line 533 of file NonlinearFactor.h.

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>

gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::NoiseModelFactor4	(	const SharedNoiseModel &	noiseModel,
		Key	j1,
		Key	j2,
		Key	j3,
		Key	j4
	)

inline

Constructor

Parameters

noiseModel	shared pointer to noise model
j1	key of the first variable
j2	key of the second variable
j3	key of the third variable
j4	key of the fourth variable

Definition at line 543 of file NonlinearFactor.h.

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>

gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::~NoiseModelFactor4 ( )

inlineoverride

Definition at line 546 of file NonlinearFactor.h.

Member Function Documentation

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>

virtual Vector gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::evaluateError	(	const X1 &	,
		const X2 &	,
		const X3 &	,
		const X4 &	,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`,
		boost::optional< Matrix & >	H3 = `boost::none`,
		boost::optional< Matrix & >	H4 = `boost::none`
	)		const

pure virtual

Override this method to finish implementing a 4-way 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, X3).

Implemented in gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY >, TestFactor4, gtsam::OdometryFactorBase, and gtsam::DeltaFactorBase.

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>

Key gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::key1 ( ) const

inline

methods to retrieve keys

Definition at line 549 of file NonlinearFactor.h.

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>

Key gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::key2 ( ) const

inline

Definition at line 550 of file NonlinearFactor.h.

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>

Key gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::key3 ( ) const

inline

Definition at line 551 of file NonlinearFactor.h.

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>

Key gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::key4 ( ) const

inline

Definition at line 552 of file NonlinearFactor.h.

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>

template<class ARCHIVE >

void gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 584 of file NonlinearFactor.h.

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>

Vector gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::unwhitenedError	(	const Values &	x,
		boost::optional< std::vector< Matrix > & >	H = `boost::none`
	)		const

inlineoverridevirtual

Calls the 4-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class.

Implements gtsam::NoiseModelFactor.

Definition at line 556 of file NonlinearFactor.h.

Friends And Related Function Documentation

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>

friend class boost::serialization::access

friend

Serialization function

Definition at line 582 of file NonlinearFactor.h.

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

NonlinearFactor.h

Public Types

Public Member Functions

Protected Types

Private Member Functions

Friends

Additional Inherited Members

Detailed Description

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4> class gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>
class gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >