#include <NonlinearEquality.h>

Inheritance diagram for gtsam::NonlinearEquality1< VALUE >:

[legend]

Public Types
typedef boost::shared_ptr< NonlinearEquality1< VALUE > >	shared_ptr
	fixed value for variable More...

typedef VALUE	X

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
gtsam::NonlinearFactor::shared_ptr	clone () const override

Vector	evaluateError (const X &x1, boost::optional< Matrix & > H=boost::none) const override

	NonlinearEquality1 (const X &value, Key key, double mu=1000.0)

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

	~NonlinearEquality1 () 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 ()

Protected Types
typedef NoiseModelFactor1< VALUE >	Base

typedef NonlinearEquality1< VALUE >	This

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
	NonlinearEquality1 ()

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...

Protected Attributes
X	value_

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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
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

template<class VALUE>
class gtsam::NonlinearEquality1< VALUE >

Simple unary equality constraint - fixes a value for a variable

Definition at line 206 of file NonlinearEquality.h.

Member Typedef Documentation

template<class VALUE >

typedef NoiseModelFactor1<VALUE> gtsam::NonlinearEquality1< VALUE >::Base

protected

Definition at line 212 of file NonlinearEquality.h.

template<class VALUE >

typedef boost::shared_ptr<NonlinearEquality1<VALUE> > gtsam::NonlinearEquality1< VALUE >::shared_ptr

fixed value for variable

Definition at line 227 of file NonlinearEquality.h.

template<class VALUE >

typedef NonlinearEquality1<VALUE> gtsam::NonlinearEquality1< VALUE >::This

protected

Definition at line 213 of file NonlinearEquality.h.

template<class VALUE >

typedef VALUE gtsam::NonlinearEquality1< VALUE >::X

Definition at line 209 of file NonlinearEquality.h.

Constructor & Destructor Documentation

template<class VALUE >

gtsam::NonlinearEquality1< VALUE >::NonlinearEquality1 ( )

inlineprotected

default constructor to allow for serialization

Definition at line 216 of file NonlinearEquality.h.

template<class VALUE >

gtsam::NonlinearEquality1< VALUE >::NonlinearEquality1	(	const X &	value,
		Key	key,
		double	mu = `1000.0`
	)

inline

Constructor

Parameters

value	feasible value that values(key) shouild be equal to
key	the key for the unknown variable to be constrained
mu	a parameter which really turns this into a strong prior

Definition at line 236 of file NonlinearEquality.h.

template<class VALUE >

gtsam::NonlinearEquality1< VALUE >::~NonlinearEquality1 ( )

inlineoverride

Definition at line 241 of file NonlinearEquality.h.

Member Function Documentation

template<class VALUE >

gtsam::NonlinearFactor::shared_ptr gtsam::NonlinearEquality1< VALUE >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 245 of file NonlinearEquality.h.

template<class VALUE >

Vector gtsam::NonlinearEquality1< VALUE >::evaluateError	(	const X &	x1,
		boost::optional< Matrix & >	H = `boost::none`
	)		const

inlineoverridevirtual

g(x) with optional derivative

Implements gtsam::NoiseModelFactor1< VALUE >.

Definition at line 251 of file NonlinearEquality.h.

template<class VALUE >

void gtsam::NonlinearEquality1< VALUE >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

Print

Reimplemented from gtsam::Factor.

Definition at line 260 of file NonlinearEquality.h.

template<class VALUE >

template<class ARCHIVE >

void gtsam::NonlinearEquality1< VALUE >::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 275 of file NonlinearEquality.h.

Friends And Related Function Documentation

template<class VALUE >

friend class boost::serialization::access

friend

Serialization function

Definition at line 273 of file NonlinearEquality.h.

Member Data Documentation

template<class VALUE >

X gtsam::NonlinearEquality1< VALUE >::value_

protected

Definition at line 219 of file NonlinearEquality.h.

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

NonlinearEquality.h

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Private Member Functions

Friends

Additional Inherited Members

Detailed Description

template<class VALUE> class gtsam::NonlinearEquality1< VALUE >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class VALUE>
class gtsam::NonlinearEquality1< VALUE >