#include <NonlinearEquality.h>
Inheritance diagram for gtsam::NonlinearEquality< VALUE >:
Public Types | |
| typedef boost::function< bool(const T &, const T &)> | CompareFunction |
| typedef VALUE | T |
 Public Types inherited from gtsam::NoiseModelFactor1< VALUE > | |
| typedef VALUE | X |
| 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 | |
| NonlinearEquality () | |
| ~NonlinearEquality () override | |
| Public Member Functions inherited from gtsam::NoiseModelFactor1< VALUE > | |
| NoiseModelFactor1 () | |
| ~NoiseModelFactor1 () override | |
| Key | key () const |
| NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1) | |
| Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const 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 |
| 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 () |
Public Attributes | |
| CompareFunction | compare_ |
Private Types | |
| typedef NoiseModelFactor1< VALUE > | Base |
| typedef NonlinearEquality< VALUE > | This |
Private Member Functions | |
| template<class ARCHIVE > | |
| void | serialize (ARCHIVE &ar, const unsigned int) |
Private Attributes | |
| bool | allow_error_ |
| double | error_gain_ |
| T | feasible_ |
Friends | |
| class | boost::serialization::access |
Standard Constructors | |
| NonlinearEquality (Key j, const T &feasible, const CompareFunction &_compare=boost::bind(traits< T >::Equals, _1, _2, 1e-9)) | |
| NonlinearEquality (Key j, const T &feasible, double error_gain, const CompareFunction &_compare=boost::bind(traits< T >::Equals, _1, _2, 1e-9)) | |
Testable | |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| print More... | |
| bool | equals (const NonlinearFactor &f, double tol=1e-9) const override |
Standard Interface | |
| double | error (const Values &c) const override |
| Vector | evaluateError (const T &xj, boost::optional< Matrix & > H=boost::none) const override |
| GaussianFactor::shared_ptr | linearize (const Values &x) const override |
| gtsam::NonlinearFactor::shared_ptr | clone () const override |
Additional Inherited Members | |
| Protected Types inherited from gtsam::NoiseModelFactor1< VALUE > | |
| typedef NoiseModelFactor | Base |
| typedef NoiseModelFactor1< VALUE > | 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 |
| 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 VALUE>
class gtsam::NonlinearEquality< VALUE >
An equality factor that forces either one variable to a constant, or a set of variables to be equal to each other.
Depending on flag, throws an error at linearization if the constraints are not met.
Switchable implementation:
- ALLLOW_ERROR : if we allow that there can be nonzero error, does not throw, and uses gain
- ONLY_EXACT : throws error at linearization if not at exact feasible point, and infinite error
Definition at line 45 of file NonlinearEquality.h.
Member Typedef Documentation
template<class VALUE>
|
private |
Definition at line 65 of file NonlinearEquality.h.
template<class VALUE>
| typedef boost::function<bool(const T&, const T&)> gtsam::NonlinearEquality< VALUE >::CompareFunction |
Function that compares two values
Definition at line 72 of file NonlinearEquality.h.
template<class VALUE>
| typedef VALUE gtsam::NonlinearEquality< VALUE >::T |
Definition at line 48 of file NonlinearEquality.h.
template<class VALUE>
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private |
Definition at line 62 of file NonlinearEquality.h.
Constructor & Destructor Documentation
template<class VALUE>
|
inline |
default constructor - only for serialization
Definition at line 77 of file NonlinearEquality.h.
template<class VALUE>
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inlineoverride |
Definition at line 80 of file NonlinearEquality.h.
template<class VALUE>
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inline |
Constructor - forces exact evaluation
Definition at line 89 of file NonlinearEquality.h.
template<class VALUE>
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inline |
Constructor - allows inexact evaluation
Definition at line 99 of file NonlinearEquality.h.
Member Function Documentation
template<class VALUE>
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inlineoverridevirtual |
- Returns
- a deep copy of this factor
Reimplemented from gtsam::NonlinearFactor.
Definition at line 171 of file NonlinearEquality.h.
template<class VALUE>
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inlineoverridevirtual |
Check if two factors are equal
Reimplemented from gtsam::NonlinearFactor.
Definition at line 118 of file NonlinearEquality.h.
template<class VALUE>
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inlineoverridevirtual |
actual error function calculation
Implements gtsam::NonlinearFactor.
Definition at line 129 of file NonlinearEquality.h.
template<class VALUE>
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inlineoverridevirtual |
error function
Implements gtsam::NoiseModelFactor1< VALUE >.
Definition at line 140 of file NonlinearEquality.h.
template<class VALUE>
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inlineoverridevirtual |
linearize to a GaussianFactor
Implements gtsam::NonlinearFactor.
Definition at line 161 of file NonlinearEquality.h.
template<class VALUE>
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inlineoverridevirtual |
template<class VALUE>
template<class ARCHIVE >
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inlineprivate |
Definition at line 185 of file NonlinearEquality.h.
Friends And Related Function Documentation
template<class VALUE>
|
friend |
Serialization function
Definition at line 183 of file NonlinearEquality.h.
Member Data Documentation
template<class VALUE>
|
private |
Definition at line 56 of file NonlinearEquality.h.
template<class VALUE>
| CompareFunction gtsam::NonlinearEquality< VALUE >::compare_ |
Definition at line 73 of file NonlinearEquality.h.
template<class VALUE>
|
private |
Definition at line 59 of file NonlinearEquality.h.
template<class VALUE>
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private |
Definition at line 53 of file NonlinearEquality.h.
The documentation for this class was generated from the following file: