#include <NonlinearFactor.h>

Inheritance diagram for gtsam::NonlinearFactor:

[legend]

Public Types
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...

Protected Types
typedef Factor	Base

typedef NonlinearFactor	This

Standard Constructors
	NonlinearFactor ()

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)

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

virtual bool	equals (const NonlinearFactor &f, double tol=1e-9) const

Standard Interface
virtual	~NonlinearFactor ()

virtual double	error (const Values &c) const =0

virtual size_t	dim () const =0

virtual bool	active (const Values &) const

virtual boost::shared_ptr< GaussianFactor >	linearize (const Values &c) const =0

virtual shared_ptr	clone () const

shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const

shared_ptr	rekey (const KeyVector &new_keys) const

Additional Inherited Members
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 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::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Detailed Description

Nonlinear factor base class

Definition at line 43 of file NonlinearFactor.h.

Member Typedef Documentation

typedef Factor gtsam::NonlinearFactor::Base

protected

Definition at line 48 of file NonlinearFactor.h.

typedef boost::shared_ptr<This> gtsam::NonlinearFactor::shared_ptr

Definition at line 53 of file NonlinearFactor.h.

typedef NonlinearFactor gtsam::NonlinearFactor::This

protected

Definition at line 49 of file NonlinearFactor.h.

Constructor & Destructor Documentation

gtsam::NonlinearFactor::NonlinearFactor ( )

inline

Default constructor for I/O only

Definition at line 59 of file NonlinearFactor.h.

template<typename CONTAINER >

gtsam::NonlinearFactor::NonlinearFactor ( const CONTAINER & keys )

inline

Constructor from a collection of the keys involved in this factor

Definition at line 65 of file NonlinearFactor.h.

virtual gtsam::NonlinearFactor::~NonlinearFactor ( )

inlinevirtual

Destructor

Definition at line 83 of file NonlinearFactor.h.

Member Function Documentation

virtual bool gtsam::NonlinearFactor::active ( const Values & ) const

inlinevirtual

Checks whether a factor should be used based on a set of values. This is primarily used to implment inequality constraints that require a variable active set. For all others, the default implementation returning true solves this problem.

In an inequality/bounding constraint, this active() returns true when the constraint is NOT fulfilled.

Returns: true if the constraint is active

Reimplemented in gtsam::BoundingConstraint2< VALUE1, VALUE2 >, gtsam::BoundingConstraint2< VALUE, VALUE >, gtsam::BoundingConstraint2< POSE, POINT >, gtsam::AntiFactor, and gtsam::BoundingConstraint1< VALUE >.

Definition at line 106 of file NonlinearFactor.h.

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

inlinevirtual

Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses

By default, throws exception if subclass does not implement the function.

Reimplemented in TestNaryFactor, gtsam::example::smallOptimize::UnaryFactor, gtsam::NonlinearEquality2< VALUE >, gtsam::CombinedImuFactor, gtsam::ImuFactor2, TestFactor4, gtsam::EssentialMatrixFactor3, gtsam::NonlinearEquality1< VALUE >, simulated2D::GenericMeasurement< POSE, LANDMARK >, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::ImuFactor, gtsam::LinearizedHessianFactor, gtsam::PendulumFactorPk1, simulated2D::GenericOdometry< VALUE >, gtsam::FunctorizedFactor2< R, T1, T2 >, gtsam::Pose3AttitudeFactor, gtsam::MagFactor3, simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >, gtsam::SmartRangeFactor, gtsam::NonlinearEquality< VALUE >, gtsam::AHRSFactor, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::ExpressionFactor< gtsam::Point3 >, simulated2D::GenericPrior< VALUE >, gtsam::PendulumFactorPk, gtsam::MagFactor2, gtsam::GPSFactor2, gtsam::EssentialMatrixFactor2, simulated2D::inequality_constraints::MaxDistanceConstraint< VALUE >, simulated2DOriented::GenericOdometry< VALUE >, gtsam::RangeFactorWithTransform< A1, A2, T >, gtsam::LinearContainerFactor, gtsam::LinearizedJacobianFactor, gtsam::Rot3AttitudeFactor, gtsam::MagFactor1, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, UnaryFactor, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::DiscreteEulerPoincareHelicopter, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::TriangulationFactor< CAMERA >, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::RotateDirectionsFactor, gtsam::PendulumFactor2, gtsam::PartialPriorFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::FunctorizedFactor< R, T >, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::VelocityConstraint, gtsam::BetweenFactor< VALUE >, gtsam::GPSFactor, gtsam::PriorFactor< VALUE >, gtsam::BearingRangeFactor< A1, A2, B, R >, gtsam::DummyFactor< CAMERA >, gtsam::EssentialMatrixConstraint, simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >, gtsam::PoseBetweenFactor< POSE >, gtsam::EssentialMatrixFactor, gtsam::PosePriorFactor< POSE >, gtsam::PoseTranslationPrior< POSE >, gtsam::MagFactor, gtsam::AntiFactor, gtsam::FullIMUFactor< POSE >, gtsam::PoseRotationPrior< POSE >, gtsam::RangeFactor< A1, A2, T >, gtsam::IMUFactor< POSE >, gtsam::RelativeElevationFactor, gtsam::PendulumFactor1, gtsam::RotateFactor, gtsam::Reconstruction, and gtsam::VelocityConstraint3.

Definition at line 118 of file NonlinearFactor.h.

virtual size_t gtsam::NonlinearFactor::dim ( ) const

pure virtual

get the dimension of the factor (number of rows on linearization)

Implemented in gtsam::BetweenFactorEM< VALUE >, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, NonlinearMeasurementModel, gtsam::LinearizedHessianFactor, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::NoiseModelFactor, NonlinearMotionModel, gtsam::SmartFactorBase< CAMERA >, gtsam::SmartFactorBase< PinholePose< CALIBRATION > >, gtsam::SmartFactorBase< StereoCamera >, gtsam::SmartFactorBase< PinholeCamera< Cal3Bundler > >, gtsam::LinearizedJacobianFactor, gtsam::WhiteNoiseFactor, gtsam::ShonanGaugeFactor, gtsam::AntiFactor, gtsam::LinearContainerFactor, gtsam::KarcherMeanFactor< T >, and gtsam::DummyFactor< CAMERA >.

bool gtsam::NonlinearFactor::equals	(	const NonlinearFactor &	f,
		double	tol = `1e-9`
	)		const

virtual

Check if two factors are equal

Reimplemented in TestNaryFactor, gtsam::CombinedImuFactor, NonlinearMeasurementModel, gtsam::ImuFactor2, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::FunctorizedFactor2< R, T1, T2 >, gtsam::LinearizedHessianFactor, gtsam::ImuFactor, gtsam::InvDepthFactorVariant3b, gtsam::Pose3AttitudeFactor, gtsam::NoiseModelFactor, gtsam::SmartFactorBase< CAMERA >, gtsam::SmartFactorBase< PinholePose< CALIBRATION > >, gtsam::SmartFactorBase< StereoCamera >, gtsam::SmartFactorBase< PinholeCamera< Cal3Bundler > >, gtsam::AHRSFactor, NonlinearMotionModel, gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS >, gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY >, gtsam::GPSFactor2, gtsam::FrobeniusBetweenFactor< Rot >, gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >, gtsam::LinearizedJacobianFactor, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::Rot3AttitudeFactor, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::SmartStereoProjectionPoseFactor, gtsam::NonlinearEquality< VALUE >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::SmartStereoProjectionFactor, gtsam::SmartProjectionFactor< CAMERA >, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::SmartProjectionPoseFactor< CALIBRATION >, gtsam::TriangulationFactor< CAMERA >, gtsam::FunctorizedFactor< R, T >, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::BetweenFactorEM< VALUE >, gtsam::PartialPriorFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::BetweenFactor< VALUE >, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::ExpressionFactor< gtsam::Point3 >, gtsam::PriorFactor< VALUE >, gtsam::SmartRangeFactor, gtsam::GaussMarkov1stOrderFactor< VALUE >, gtsam::PoseBetweenFactor< POSE >, gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >, gtsam::GPSFactor, gtsam::InvDepthFactorVariant2, gtsam::PoseTranslationPrior< POSE >, gtsam::InvDepthFactorVariant3a, gtsam::EssentialMatrixConstraint, gtsam::InvDepthFactorVariant1, gtsam::PosePriorFactor< POSE >, gtsam::OrientedPlane3DirectionPrior, gtsam::AntiFactor, gtsam::BiasedGPSFactor, gtsam::LinearContainerFactor, gtsam::ShonanFactor< d >, gtsam::PoseRotationPrior< POSE >, gtsam::FullIMUFactor< POSE >, gtsam::RelativeElevationFactor, gtsam::PoseToPointFactor, gtsam::IMUFactor< POSE >, and gtsam::DummyFactor< CAMERA >.

Definition at line 36 of file NonlinearFactor.cpp.

virtual double gtsam::NonlinearFactor::error ( const Values & c ) const

pure virtual

Calculate the error of the factor This is typically equal to log-likelihood, e.g. $ 0.5(h(x)-z)^2/sigma^2 $ in case of Gaussian. You can override this for systems with unusual noise models.

Implemented in gtsam::SmartStereoProjectionFactor, gtsam::SmartProjectionFactor< CAMERA >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, NonlinearMeasurementModel, gtsam::LinearizedHessianFactor, gtsam::NoiseModelFactor, NonlinearMotionModel, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::LinearizedJacobianFactor, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::NonlinearEquality< VALUE >, gtsam::WhiteNoiseFactor, gtsam::SmartStereoProjectionPoseFactor, gtsam::SmartProjectionPoseFactor< CALIBRATION >, gtsam::BetweenFactorEM< VALUE >, gtsam::StereoFactor, gtsam::ShonanGaugeFactor, gtsam::AntiFactor, gtsam::LinearContainerFactor, gtsam::KarcherMeanFactor< T >, gtsam::DummyFactor< CAMERA >, and gtsam::PinholeFactor.

virtual boost::shared_ptr<GaussianFactor> gtsam::NonlinearFactor::linearize ( const Values & c ) const

pure virtual

linearize to a GaussianFactor

Implemented in gtsam::SmartStereoProjectionFactor, NonlinearMeasurementModel, gtsam::SmartProjectionFactor< CAMERA >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::LinearizedHessianFactor, gtsam::NoiseModelFactor, NonlinearMotionModel, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::NonlinearEquality< VALUE >, gtsam::WhiteNoiseFactor, gtsam::TriangulationFactor< CAMERA >, gtsam::LinearizedJacobianFactor, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::BetweenFactorEM< VALUE >, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::ExpressionFactor< gtsam::Point3 >, gtsam::StereoFactor, gtsam::ShonanGaugeFactor, gtsam::LinearContainerFactor, gtsam::AntiFactor, gtsam::KarcherMeanFactor< T >, gtsam::DummyFactor< CAMERA >, and gtsam::PinholeFactor.

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

overridevirtual

print

Reimplemented from gtsam::Factor.

Reimplemented in TestNaryFactor, NonlinearMeasurementModel, gtsam::EssentialMatrixFactor3, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::LinearizedHessianFactor, gtsam::NoiseModelFactor, gtsam::InvDepthFactorVariant3b, gtsam::SmartFactorBase< CAMERA >, gtsam::SmartFactorBase< PinholePose< CALIBRATION > >, gtsam::SmartFactorBase< StereoCamera >, gtsam::SmartFactorBase< PinholeCamera< Cal3Bundler > >, NonlinearMotionModel, gtsam::RangeFactorWithTransform< A1, A2, T >, gtsam::EssentialMatrixFactor2, gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS >, gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY >, gtsam::FrobeniusBetweenFactor< Rot >, gtsam::LinearizedJacobianFactor, gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >, gtsam::SmartStereoProjectionPoseFactor, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::WhiteNoiseFactor, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::SmartProjectionPoseFactor< CALIBRATION >, gtsam::SmartStereoProjectionFactor, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::TriangulationFactor< CAMERA >, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::SmartProjectionFactor< CAMERA >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::RotateDirectionsFactor, gtsam::VelocityConstraint, gtsam::PartialPriorFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::BearingRangeFactor< A1, A2, B, R >, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::BetweenFactorEM< VALUE >, gtsam::BetweenFactor< VALUE >, gtsam::PoseTranslationPrior< POSE >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::ExpressionFactor< gtsam::Point3 >, gtsam::RangeFactor< A1, A2, T >, gtsam::SmartRangeFactor, gtsam::PriorFactor< VALUE >, gtsam::GaussMarkov1stOrderFactor< VALUE >, gtsam::EssentialMatrixConstraint, gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >, gtsam::InvDepthFactorVariant2, gtsam::InvDepthFactorVariant3a, gtsam::OrientedPlane3DirectionPrior, gtsam::PoseRotationPrior< POSE >, gtsam::PoseBetweenFactor< POSE >, gtsam::InvDepthFactorVariant1, gtsam::EssentialMatrixFactor, gtsam::FullIMUFactor< POSE >, gtsam::LocalOrientedPlane3Factor, gtsam::PosePriorFactor< POSE >, gtsam::AntiFactor, gtsam::ShonanFactor< d >, gtsam::RelativeElevationFactor, gtsam::IMUFactor< POSE >, gtsam::BearingFactor< A1, A2, T >, gtsam::BiasedGPSFactor, gtsam::RotateFactor, gtsam::PoseToPointFactor, gtsam::OrientedPlane3Factor, and gtsam::DummyFactor< CAMERA >.

Definition at line 26 of file NonlinearFactor.cpp.

NonlinearFactor::shared_ptr gtsam::NonlinearFactor::rekey ( const std::map< Key, Key > & rekey_mapping ) const

Creates a shared_ptr clone of the factor with different keys using a map from old->new keys

Definition at line 41 of file NonlinearFactor.cpp.

NonlinearFactor::shared_ptr gtsam::NonlinearFactor::rekey ( const KeyVector & new_keys ) const

Clones a factor and fully replaces its keys

Parameters

new_keys is the full replacement set of keys

Definition at line 54 of file NonlinearFactor.cpp.

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

Public Types

Protected Types

Standard Constructors

Testable

Standard Interface

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation