#include <simulated2DConstraints.h>

Inheritance diagram for simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >:

[legend]

Public Types
typedef BoundingConstraint2< POSE, POINT >	Base
	Base class for factor. More...

typedef POINT	Point
	Type of point variable constrained. More...

typedef POSE	Pose
	Type of pose variable constrained. More...

typedef MinDistanceConstraint< POSE, POINT >	This
	This class for factor. More...

Public Types inherited from gtsam::BoundingConstraint2< POSE, POINT >
typedef NoiseModelFactor2< POSE, POINT >	Base

typedef boost::shared_ptr< BoundingConstraint2< POSE, POINT > >	shared_ptr

typedef POSE	X1

typedef POINT	X2

Public Types inherited from gtsam::NoiseModelFactor2< POSE, POINT >
typedef POSE	X1

typedef POINT	X2

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

	MinDistanceConstraint (Key key1, Key key2, double range_bound, double mu=1000.0)

double	value (const Pose &x1, const Point &x2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override

	~MinDistanceConstraint () override

Public Member Functions inherited from gtsam::BoundingConstraint2< POSE, POINT >
bool	active (const Values &c) const override

	BoundingConstraint2 (Key key1, Key key2, double threshold, bool isGreaterThan, double mu=1000.0)
	flag for greater/less than More...

Vector	evaluateError (const X1 &x1, const X2 &x2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override

bool	isGreaterThan () const

double	threshold () const

	~BoundingConstraint2 () override

Public Member Functions inherited from gtsam::NoiseModelFactor2< POSE, POINT >
Key	key1 () const

Key	key2 () const

	NoiseModelFactor2 ()

	NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2)

Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override

	~NoiseModelFactor2 () 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 ()

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 ()

Additional Inherited Members
Public Attributes inherited from gtsam::BoundingConstraint2< POSE, POINT >
bool	isGreaterThan_

double	threshold_

Protected Types inherited from gtsam::NoiseModelFactor2< POSE, POINT >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< POSE, POINT >	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 POSE, class POINT>
struct simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >

Binary inequality constraint forcing a minimum range NOTE: this is not a convex function! Be careful with initialization.

Template Parameters

POSE	is the type of the pose value constrained
POINT	is the type of the point value constrained

Definition at line 171 of file simulated2DConstraints.h.

Member Typedef Documentation

template<class POSE , class POINT >

typedef BoundingConstraint2<POSE, POINT> simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >::Base

Base class for factor.

Definition at line 172 of file simulated2DConstraints.h.

template<class POSE , class POINT >

typedef POINT simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >::Point

Type of point variable constrained.

Definition at line 175 of file simulated2DConstraints.h.

template<class POSE , class POINT >

typedef POSE simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >::Pose

Type of pose variable constrained.

Definition at line 174 of file simulated2DConstraints.h.

template<class POSE , class POINT >

typedef MinDistanceConstraint<POSE, POINT> simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >::This

This class for factor.

Definition at line 173 of file simulated2DConstraints.h.

Constructor & Destructor Documentation

template<class POSE , class POINT >

simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >::~MinDistanceConstraint ( )

inlineoverride

Definition at line 177 of file simulated2DConstraints.h.

template<class POSE , class POINT >

simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >::MinDistanceConstraint	(	Key	key1,
		Key	key2,
		double	range_bound,
		double	mu = `1000.0`
	)

inline

Primary constructor for factor

Parameters

key1	is the first variable key
key2	is the second variable key
range_bound	is the minimum range allowed between the variables
mu	is the gain for the penalty function

Definition at line 191 of file simulated2DConstraints.h.

Member Function Documentation

template<class POSE , class POINT >

gtsam::NonlinearFactor::shared_ptr simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 180 of file simulated2DConstraints.h.

template<class POSE , class POINT >

double simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >::value	(	const Pose &	x1,
		const Point &	x2,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

inlineoverridevirtual

computes the range with derivatives

Parameters

x1	is the first variable value
x2	is the second variable value
H1	is an optional Jacobian in x1
H2	is an optional Jacobian in x2

Returns: the distance between the variables

Implements gtsam::BoundingConstraint2< POSE, POINT >.

Definition at line 203 of file simulated2DConstraints.h.

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

simulated2DConstraints.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<class POSE, class POINT> struct simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<class POSE, class POINT>
struct simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >