#include <PartialPriorFactor.h>

Inheritance diagram for gtsam::PartialPriorFactor< VALUE >:

[legend]

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

bool	equals (const NonlinearFactor &expected, double tol=1e-9) const override

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

const std::vector< size_t > &	indices () const

	PartialPriorFactor (Key key, size_t idx, double prior, const SharedNoiseModel &model)

	PartialPriorFactor (Key key, const std::vector< size_t > &indices, const Vector &prior, const SharedNoiseModel &model)

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

const Vector &	prior () const

	~PartialPriorFactor () 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

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)

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 PartialPriorFactor< 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
	PartialPriorFactor ()

	PartialPriorFactor (Key key, const SharedNoiseModel &model)

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
std::vector< size_t >	indices_
	Indices of the measured tangent space parameters. More...

Vector	prior_
	Measurement on tangent space parameters, in compressed form. More...

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::PartialPriorFactor< VALUE >

A class for a soft partial prior on any Lie type, with a mask over Expmap parameters. Note that this will use Logmap() to find a tangent space parameterization for the variable attached, so this may fail for highly nonlinear manifolds.

The prior vector used in this factor is stored in compressed form, such that it only contains values for measurements that are to be compared, and they are in the same order as VALUE::Logmap(). The provided indices will determine which components to extract in the error function.

Template Parameters

VALUE is the type of variable the prior effects

Definition at line 38 of file PartialPriorFactor.h.

Member Typedef Documentation

template<class VALUE>

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

protected

Definition at line 47 of file PartialPriorFactor.h.

template<class VALUE>

typedef VALUE gtsam::PartialPriorFactor< VALUE >::T

Definition at line 41 of file PartialPriorFactor.h.

template<class VALUE>

typedef PartialPriorFactor<VALUE> gtsam::PartialPriorFactor< VALUE >::This

protected

Definition at line 48 of file PartialPriorFactor.h.

Constructor & Destructor Documentation

template<class VALUE>

gtsam::PartialPriorFactor< VALUE >::PartialPriorFactor ( )

inlineprotected

default constructor - only use for serialization

Definition at line 54 of file PartialPriorFactor.h.

template<class VALUE>

gtsam::PartialPriorFactor< VALUE >::PartialPriorFactor	(	Key	key,
		const SharedNoiseModel &	model
	)

inlineprotected

constructor with just minimum requirements for a factor - allows more computation in the constructor. This should only be used by subclasses

Definition at line 60 of file PartialPriorFactor.h.

template<class VALUE>

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

inlineoverride

Definition at line 65 of file PartialPriorFactor.h.

template<class VALUE>

gtsam::PartialPriorFactor< VALUE >::PartialPriorFactor	(	Key	key,
		size_t	idx,
		double	prior,
		const SharedNoiseModel &	model
	)

inline

Single Element Constructor: Prior on a single parameter at index 'idx' in the tangent vector.

Definition at line 68 of file PartialPriorFactor.h.

template<class VALUE>

gtsam::PartialPriorFactor< VALUE >::PartialPriorFactor	(	Key	key,
		const std::vector< size_t > &	indices,
		const Vector &	prior,
		const SharedNoiseModel &	model
	)

inline

Indices Constructor: Specify the relevant measured indices in the tangent vector.

Definition at line 76 of file PartialPriorFactor.h.

Member Function Documentation

template<class VALUE>

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 86 of file PartialPriorFactor.h.

template<class VALUE>

bool gtsam::PartialPriorFactor< VALUE >::equals	(	const NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 99 of file PartialPriorFactor.h.

template<class VALUE>

Vector gtsam::PartialPriorFactor< VALUE >::evaluateError	(	const T &	p,
		boost::optional< Matrix & >	H = `boost::none`
	)		const

inlineoverridevirtual

implement functions needed to derive from Factor Returns a vector of errors for the measured tangent parameters.

Implements gtsam::NoiseModelFactor1< VALUE >.

Definition at line 109 of file PartialPriorFactor.h.

template<class VALUE>

const std::vector<size_t>& gtsam::PartialPriorFactor< VALUE >::indices ( ) const

inline

Definition at line 137 of file PartialPriorFactor.h.

template<class VALUE>

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

inlineoverridevirtual

implement functions needed for Testable print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 93 of file PartialPriorFactor.h.

template<class VALUE>

const Vector& gtsam::PartialPriorFactor< VALUE >::prior ( ) const

inline

Definition at line 136 of file PartialPriorFactor.h.

template<class VALUE>

template<class ARCHIVE >

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

inlineprivate

Definition at line 143 of file PartialPriorFactor.h.

Friends And Related Function Documentation

template<class VALUE>

friend class boost::serialization::access

friend

Serialization function

Definition at line 141 of file PartialPriorFactor.h.

Member Data Documentation

template<class VALUE>

std::vector<size_t> gtsam::PartialPriorFactor< VALUE >::indices_

protected

Indices of the measured tangent space parameters.

Definition at line 51 of file PartialPriorFactor.h.

template<class VALUE>

Vector gtsam::PartialPriorFactor< VALUE >::prior_

protected

Measurement on tangent space parameters, in compressed form.

Definition at line 50 of file PartialPriorFactor.h.

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

PartialPriorFactor.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::PartialPriorFactor< VALUE >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class VALUE>
class gtsam::PartialPriorFactor< VALUE >