#include <NonlinearFactor.h>
Inheritance diagram for gtsam::NoiseModelFactor5< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5 >:
Public Types | |
| typedef VALUE1 | X1 |
| typedef VALUE2 | X2 |
| typedef VALUE3 | X3 |
| typedef VALUE4 | X4 |
| typedef VALUE5 | X5 |
 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 &, const X5 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none, boost::optional< Matrix & > H5=boost::none) const =0 |
| Key | key1 () const |
| Key | key2 () const |
| Key | key3 () const |
| Key | key4 () const |
| Key | key5 () const |
| NoiseModelFactor5 () | |
| NoiseModelFactor5 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5) | |
| Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override |
| ~NoiseModelFactor5 () 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 NoiseModelFactor5< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5 > | 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 VALUE5>
class gtsam::NoiseModelFactor5< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5 >
A convenient base class for creating your own NoiseModelFactor with 5 variables. To derive from this class, implement evaluateError().
Definition at line 594 of file NonlinearFactor.h.
Member Typedef Documentation
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
|
protected |
Definition at line 607 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
|
protected |
Definition at line 608 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
| typedef VALUE1 gtsam::NoiseModelFactor5< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5 >::X1 |
Definition at line 599 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
| typedef VALUE2 gtsam::NoiseModelFactor5< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5 >::X2 |
Definition at line 600 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
| typedef VALUE3 gtsam::NoiseModelFactor5< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5 >::X3 |
Definition at line 601 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
| typedef VALUE4 gtsam::NoiseModelFactor5< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5 >::X4 |
Definition at line 602 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
| typedef VALUE5 gtsam::NoiseModelFactor5< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5 >::X5 |
Definition at line 603 of file NonlinearFactor.h.
Constructor & Destructor Documentation
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
|
inline |
Default Constructor for I/O
Definition at line 615 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
|
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 j5 key of the fifth variable
Definition at line 626 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
|
inlineoverride |
Definition at line 629 of file NonlinearFactor.h.
Member Function Documentation
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
|
pure virtual |
Override this method to finish implementing a 5-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 TestFactor5, gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS >, gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >, and gtsam::ImuFactor.
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
|
inline |
methods to retrieve keys
Definition at line 632 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
|
inline |
Definition at line 633 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
|
inline |
Definition at line 634 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
|
inline |
Definition at line 635 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
|
inline |
Definition at line 636 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
template<class ARCHIVE >
|
inlineprivate |
Definition at line 669 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
|
inlineoverridevirtual |
Calls the 5-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class.
Implements gtsam::NoiseModelFactor.
Definition at line 640 of file NonlinearFactor.h.
Friends And Related Function Documentation
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
|
friend |
Serialization function
Definition at line 667 of file NonlinearFactor.h.
The documentation for this class was generated from the following file: