Public Types | Public Member Functions | Private Types | Private Member Functions | Private Attributes | Friends | List of all members
gtsam::TransformBtwRobotsUnaryFactorEM< VALUE > Class Template Reference

#include <TransformBtwRobotsUnaryFactorEM.h>

Inheritance diagram for gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >:
Inheritance graph
[legend]

Public Types

typedef boost::shared_ptr< TransformBtwRobotsUnaryFactorEM > shared_ptr
 
typedef VALUE T
 
- 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

Vector calcIndicatorProb (const Values &x) const
 
Vector calcIndicatorProb (const Values &x, const Vector &err) const
 
NonlinearFactor::shared_ptr clone () const override
 
size_t dim () const override
 
bool equals (const NonlinearFactor &f, double tol=1e-9) const override
 
double error (const Values &x) const override
 
SharedGaussian get_model_inlier () const
 
Matrix get_model_inlier_cov () const
 
SharedGaussian get_model_outlier () const
 
Matrix get_model_outlier_cov () const
 
boost::shared_ptr< GaussianFactor > linearize (const Values &x) const override
 
void print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
void setValAValB (const Values &valA, const Values &valB)
 
 TransformBtwRobotsUnaryFactorEM ()
 
 TransformBtwRobotsUnaryFactorEM (Key key, const VALUE &measured, Key keyA, Key keyB, const Values &valA, const Values &valB, const SharedGaussian &model_inlier, const SharedGaussian &model_outlier, const double prior_inlier, const double prior_outlier, const bool flag_bump_up_near_zero_probs=false, const bool start_with_M_step=false)
 
Vector unwhitenedError (const Values &x) const
 
void updateNoiseModels (const Values &values, const Marginals &marginals)
 
void updateNoiseModels (const Values &values, const NonlinearFactorGraph &graph)
 
void updateNoiseModels_givenCovs (const Values &values, const Matrix &cov1, const Matrix &cov2, const Matrix &cov12)
 
Vector whitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
 
 ~TransformBtwRobotsUnaryFactorEM () 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 ()
 

Private Types

typedef NonlinearFactor Base
 
typedef TransformBtwRobotsUnaryFactorEM< VALUE > This
 

Private Member Functions

template<class ARCHIVE >
void serialize (ARCHIVE &ar, const unsigned int)
 

Private Attributes

bool flag_bump_up_near_zero_probs_
 
Key key_
 
Key keyA_
 
Key keyB_
 
VALUE measured_
 
SharedGaussian model_inlier_
 
SharedGaussian model_outlier_
 
double prior_inlier_
 
double prior_outlier_
 
bool start_with_M_step_
 
Values valA_
 
Values valB_
 

Friends

class boost::serialization::access
 

Additional Inherited Members

- Protected Types inherited from gtsam::NonlinearFactor
typedef Factor Base
 
typedef NonlinearFactor This
 
- 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

template<class VALUE>
class gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >

Definition at line 37 of file TransformBtwRobotsUnaryFactorEM.h.

Member Typedef Documentation

template<class VALUE>
typedef NonlinearFactor gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::Base
private

Definition at line 46 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
typedef boost::shared_ptr<TransformBtwRobotsUnaryFactorEM> gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::shared_ptr

concept check by type

Definition at line 75 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
typedef VALUE gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::T

Definition at line 41 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
typedef TransformBtwRobotsUnaryFactorEM<VALUE> gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::This
private

Definition at line 45 of file TransformBtwRobotsUnaryFactorEM.h.

Constructor & Destructor Documentation

template<class VALUE>
gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::TransformBtwRobotsUnaryFactorEM ( )
inline

default constructor - only use for serialization

Definition at line 78 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::TransformBtwRobotsUnaryFactorEM ( Key  key,
const VALUE &  measured,
Key  keyA,
Key  keyB,
const Values &  valA,
const Values &  valB,
const SharedGaussian &  model_inlier,
const SharedGaussian &  model_outlier,
const double  prior_inlier,
const double  prior_outlier,
const bool  flag_bump_up_near_zero_probs = false,
const bool  start_with_M_step = false 
)
inline

Constructor

Definition at line 81 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::~TransformBtwRobotsUnaryFactorEM ( )
inlineoverride

Definition at line 96 of file TransformBtwRobotsUnaryFactorEM.h.

Member Function Documentation

template<class VALUE>
Vector gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::calcIndicatorProb ( const Values &  x) const
inline

Definition at line 249 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
Vector gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::calcIndicatorProb ( const Values &  x,
const Vector &  err 
) const
inline

Definition at line 257 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
NonlinearFactor::shared_ptr gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::clone ( ) const
inlineoverridevirtual

Clone

Reimplemented from gtsam::NonlinearFactor.

Definition at line 100 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
size_t gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::dim ( ) const
inlineoverridevirtual

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

Implements gtsam::NonlinearFactor.

Definition at line 404 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
bool gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::equals ( const NonlinearFactor &  f,
double  tol = 1e-9 
) const
inlineoverridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Definition at line 122 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
double gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::error ( const Values &  c) const
inlineoverridevirtual

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.

Implements gtsam::NonlinearFactor.

Definition at line 154 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
SharedGaussian gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::get_model_inlier ( ) const
inline

Definition at line 308 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
Matrix gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::get_model_inlier_cov ( ) const
inline

Definition at line 318 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
SharedGaussian gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::get_model_outlier ( ) const
inline

Definition at line 313 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
Matrix gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::get_model_outlier_cov ( ) const
inline

Definition at line 323 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
boost::shared_ptr<GaussianFactor> gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::linearize ( const Values &  x) const
inlineoverridevirtual

Linearize a non-linearFactorN to get a GaussianFactor, $ Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z $ Hence $ b = z - h(x) = - \mathtt{error\_vector}(x) $

Implements gtsam::NonlinearFactor.

Definition at line 165 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
void gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::print ( const std::string &  s,
const KeyFormatter &  keyFormatter = DefaultKeyFormatter 
) const
inlineoverridevirtual

implement functions needed for Testable print

Reimplemented from gtsam::NonlinearFactor.

Definition at line 106 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
template<class ARCHIVE >
void gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::serialize ( ARCHIVE &  ar,
const unsigned  int 
)
inlineprivate

Definition at line 413 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
void gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::setValAValB ( const Values &  valA,
const Values &  valB 
)
inline

implement functions needed to derive from Factor

Definition at line 137 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
Vector gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::unwhitenedError ( const Values &  x) const
inline

Definition at line 291 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
void gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::updateNoiseModels ( const Values &  values,
const Marginals &  marginals 
)
inline

Definition at line 328 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
void gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::updateNoiseModels ( const Values &  values,
const NonlinearFactorGraph &  graph 
)
inline

Definition at line 343 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
void gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::updateNoiseModels_givenCovs ( const Values &  values,
const Matrix &  cov1,
const Matrix &  cov2,
const Matrix &  cov12 
)
inline

Definition at line 361 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
Vector gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::whitenedError ( const Values &  x,
boost::optional< std::vector< Matrix > & >  H = boost::none 
) const
inline

Definition at line 182 of file TransformBtwRobotsUnaryFactorEM.h.

Friends And Related Function Documentation

template<class VALUE>
friend class boost::serialization::access
friend

Serialization function

Definition at line 411 of file TransformBtwRobotsUnaryFactorEM.h.

Member Data Documentation

template<class VALUE>
bool gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::flag_bump_up_near_zero_probs_
private

Definition at line 65 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
Key gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::key_
private

Definition at line 48 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
Key gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::keyA_
private

Definition at line 54 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
Key gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::keyB_
private

Definition at line 55 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
VALUE gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::measured_
private

Definition at line 50 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
SharedGaussian gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::model_inlier_
private

Definition at line 59 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
SharedGaussian gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::model_outlier_
private

Definition at line 60 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
double gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::prior_inlier_
private

Definition at line 62 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
double gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::prior_outlier_
private

Definition at line 63 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
bool gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::start_with_M_step_
mutableprivate

Definition at line 66 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
Values gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::valA_
private

The measurement

Definition at line 52 of file TransformBtwRobotsUnaryFactorEM.h.

template<class VALUE>
Values gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::valB_
private

Definition at line 53 of file TransformBtwRobotsUnaryFactorEM.h.

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

gtsam
Author(s):
autogenerated on Sat May 8 2021 02:58:32