#include <Expression.h>

Inheritance diagram for gtsam::Expression< T >:

Classes
struct	BinaryFunction

struct	TernaryFunction

struct	UnaryFunction

Public Types
typedef Expression< T >	type
	Define type so we can apply it as a meta-function. More...

Public Member Functions
virtual std::shared_ptr< Expression >	clone () const

void	dims (std::map< Key, int > &map) const
	Return dimensions for each argument, as a map. More...

template<typename A >
	Expression (const Expression< A > &expression, T(A::*method)(typename MakeOptionalJacobian< T, A >::type) const)
	Construct a nullary method expression. More...

template<typename A1 , typename A2 , typename A3 >
	Expression (const Expression< A1 > &expression1, T(A1::*method)(const A2 &, const A3 &, typename MakeOptionalJacobian< T, A1 >::type, typename MakeOptionalJacobian< T, A2 >::type, typename MakeOptionalJacobian< T, A3 >::type) const, const Expression< A2 > &expression2, const Expression< A3 > &expression3)
	Construct a binary method expression. More...

template<typename A1 , typename A2 >
	Expression (const Expression< A1 > &expression1, T(A1::*method)(const A2 &, typename MakeOptionalJacobian< T, A1 >::type, typename MakeOptionalJacobian< T, A2 >::type) const, const Expression< A2 > &expression2)
	Construct a unary method expression. More...

	Expression (const Key &key)
	Construct a leaf expression, with Key. More...

	Expression (const Symbol &symbol)
	Construct a leaf expression, with Symbol. More...

	Expression (const T &value)
	Construct a constant expression. More...

template<typename A1 , typename A2 >
	Expression (typename BinaryFunction< A1, A2 >::type function, const Expression< A1 > &expression1, const Expression< A2 > &expression2)
	Construct a binary function expression. More...

template<typename A1 , typename A2 , typename A3 >
	Expression (typename TernaryFunction< A1, A2, A3 >::type function, const Expression< A1 > &expression1, const Expression< A2 > &expression2, const Expression< A3 > &expression3)
	Construct a ternary function expression. More...

template<typename A >
	Expression (typename UnaryFunction< A >::type function, const Expression< A > &expression)
	Construct a unary function expression. More...

	Expression (unsigned char c, std::uint64_t j)
	Construct a leaf expression, creating Symbol. More...

std::set< Key >	keys () const
	Return keys that play in this expression. More...

Expression< T > &	operator+= (const Expression< T > &e)
	Add another expression to this expression. More...

void	print (const std::string &s) const
	Print. More...

const std::shared_ptr< internal::ExpressionNode< T > > &	root () const
	Return root. More...

size_t	traceSize () const
	Return size needed for memory buffer in traceExecution. More...

T	value (const Values &values, std::vector< Matrix > &H) const

T	value (const Values &values, std::vector< Matrix > *H=nullptr) const
	Return value and optional derivatives, reverse AD version Notes: this is not terribly efficient, and H should have correct size. The order of the Jacobians is same as keys in either keys() or dims() More...

virtual	~Expression ()
	Destructor. More...

Protected Types
typedef std::pair< KeyVector, FastVector< int > >	KeysAndDims
	Keys and dimensions in same order. More...

Protected Member Functions
	Expression ()
	Default constructor, for serialization. More...

	Expression (const std::shared_ptr< internal::ExpressionNode< T > > &root)
	Construct with a custom root. More...

KeysAndDims	keysAndDims () const

T	traceExecution (const Values &values, internal::ExecutionTrace< T > &trace, char *traceStorage) const
	trace execution, very unsafe More...

T	valueAndDerivatives (const Values &values, const KeyVector &keys, const FastVector< int > &dims, std::vector< Matrix > &H) const
	private version that takes keys and dimensions, returns derivatives More...

T	valueAndJacobianMap (const Values &values, internal::JacobianMap &jacobians) const
	brief Return value and derivatives, reverse AD version More...

Protected Attributes
std::shared_ptr< internal::ExpressionNode< T > >	root_

Friends
class	::ExpressionFactorShallowTest

class	ExpressionEqualityConstraint< T >

class	ExpressionFactor< T >

class	internal::ExpressionNode< T >

class	ScalarExpressionInequalityConstraint

Detailed Description

template<typename T>
class gtsam::Expression< T >

Expression class that supports automatic differentiation

Definition at line 49 of file Expression.h.

Member Typedef Documentation

◆ KeysAndDims

template<typename T >

typedef std::pair<KeyVector, FastVector<int> > gtsam::Expression< T >::KeysAndDims

protected

Keys and dimensions in same order.

Definition at line 193 of file Expression.h.

◆ type

template<typename T >

typedef Expression<T> gtsam::Expression< T >::type

Define type so we can apply it as a meta-function.

Definition at line 54 of file Expression.h.

Constructor & Destructor Documentation

◆ Expression() [1/12]

template<typename T >

gtsam::Expression< T >::Expression ( const std::shared_ptr< internal::ExpressionNode< T > > & root )

inlineprotected

Construct with a custom root.

Definition at line 62 of file Expression.h.

◆ Expression() [2/12]

template<typename T >

gtsam::Expression< T >::Expression ( const T & value )

Construct a constant expression.

Definition at line 35 of file Expression-inl.h.

◆ Expression() [3/12]

template<typename T >

gtsam::Expression< T >::Expression ( const Key & key )

Construct a leaf expression, with Key.

Definition at line 40 of file Expression-inl.h.

◆ Expression() [4/12]

template<typename T >

gtsam::Expression< T >::Expression ( const Symbol & symbol )

Construct a leaf expression, with Symbol.

Definition at line 45 of file Expression-inl.h.

◆ Expression() [5/12]

template<typename T >

gtsam::Expression< T >::Expression	(	unsigned char	c,
		std::uint64_t	j
	)

Construct a leaf expression, creating Symbol.

Definition at line 50 of file Expression-inl.h.

◆ Expression() [6/12]

template<typename T >

template<typename A >

gtsam::Expression< T >::Expression	(	typename UnaryFunction< A >::type	function,
		const Expression< A > &	expression
	)

Construct a unary function expression.

Definition at line 57 of file Expression-inl.h.

◆ Expression() [7/12]

template<typename T >

template<typename A1 , typename A2 >

gtsam::Expression< T >::Expression	(	typename BinaryFunction< A1, A2 >::type	function,
		const Expression< A1 > &	expression1,
		const Expression< A2 > &	expression2
	)

Construct a binary function expression.

Definition at line 65 of file Expression-inl.h.

◆ Expression() [8/12]

template<typename T >

template<typename A1 , typename A2 , typename A3 >

gtsam::Expression< T >::Expression	(	typename TernaryFunction< A1, A2, A3 >::type	function,
		const Expression< A1 > &	expression1,
		const Expression< A2 > &	expression2,
		const Expression< A3 > &	expression3
	)

Construct a ternary function expression.

Definition at line 75 of file Expression-inl.h.

◆ Expression() [9/12]

template<typename T >

template<typename A >

gtsam::Expression< T >::Expression	(	const Expression< A > &	expression,
		T(A::*)(typename MakeOptionalJacobian< T, A >::type) const	method
	)

Construct a nullary method expression.

Definition at line 86 of file Expression-inl.h.

◆ Expression() [10/12]

template<typename T >

template<typename A1 , typename A2 >

gtsam::Expression< T >::Expression	(	const Expression< A1 > &	expression1,
		T(A1::*)(const A2 &, typename MakeOptionalJacobian< T, A1 >::type, typename MakeOptionalJacobian< T, A2 >::type) const	method,
		const Expression< A2 > &	expression2
	)

Construct a unary method expression.

Definition at line 97 of file Expression-inl.h.

◆ Expression() [11/12]

template<typename T >

template<typename A1 , typename A2 , typename A3 >

gtsam::Expression< T >::Expression	(	const Expression< A1 > &	expression1,
		T(A1::*)(const A2 &, const A3 &, typename MakeOptionalJacobian< T, A1 >::type, typename MakeOptionalJacobian< T, A2 >::type, typename MakeOptionalJacobian< T, A3 >::type) const	method,
		const Expression< A2 > &	expression2,
		const Expression< A3 > &	expression3
	)

Construct a binary method expression.

Definition at line 112 of file Expression-inl.h.

◆ ~Expression()

template<typename T >

virtual gtsam::Expression< T >::~Expression ( )

inlinevirtual

Destructor.

Definition at line 142 of file Expression.h.

◆ Expression() [12/12]

template<typename T >

gtsam::Expression< T >::Expression ( )

inlineprotected

Default constructor, for serialization.

Definition at line 190 of file Expression.h.

Member Function Documentation

◆ clone()

template<typename T >

virtual std::shared_ptr<Expression> gtsam::Expression< T >::clone ( ) const

inlinevirtual

Returns: a "deep" copy of this Expression "deep" is in quotes because the ExpressionNode hierarchy is not cloned. The intent is for derived classes to be copied using only a Base pointer.

Definition at line 174 of file Expression.h.

◆ dims()

template<typename T >

void gtsam::Expression< T >::dims ( std::map< Key, int > & map ) const

Return dimensions for each argument, as a map.

Definition at line 133 of file Expression-inl.h.

◆ keys()

template<typename T >

std::set< Key > gtsam::Expression< T >::keys

Return keys that play in this expression.

Definition at line 128 of file Expression-inl.h.

◆ keysAndDims()

template<typename T >

Expression< T >::KeysAndDims gtsam::Expression< T >::keysAndDims

protected

Definition at line 229 of file Expression-inl.h.

◆ operator+=()

template<typename T >

Expression< T > & gtsam::Expression< T >::operator+= ( const Expression< T > & e )

Add another expression to this expression.

Definition at line 302 of file Expression-inl.h.

◆ print()

template<typename T >

void gtsam::Expression< T >::print ( const std::string & s ) const

Print.

Definition at line 138 of file Expression-inl.h.

◆ root()

template<typename T >

const std::shared_ptr< internal::ExpressionNode< T > > & gtsam::Expression< T >::root

Return root.

Definition at line 156 of file Expression-inl.h.

◆ traceExecution()

template<typename T >

T gtsam::Expression< T >::traceExecution	(	const Values &	values,
		internal::ExecutionTrace< T > &	trace,
		char *	traceStorage
	)		const

protected

trace execution, very unsafe

Definition at line 192 of file Expression-inl.h.

◆ traceSize()

template<typename T >

size_t gtsam::Expression< T >::traceSize

Return size needed for memory buffer in traceExecution.

Definition at line 161 of file Expression-inl.h.

◆ value() [1/2]

template<typename T >

T gtsam::Expression< T >::value	(	const Values &	values,
		std::vector< Matrix > &	H
	)		const

inline

An overload of the value function to accept reference to vector of matrices instead of a pointer to vector of matrices.

Definition at line 165 of file Expression.h.

◆ value() [2/2]

template<typename T >

T gtsam::Expression< T >::value	(	const Values &	values,
		std::vector< Matrix > *	H = `nullptr`
	)		const

Return value and optional derivatives, reverse AD version Notes: this is not terribly efficient, and H should have correct size. The order of the Jacobians is same as keys in either keys() or dims()

Definition at line 143 of file Expression-inl.h.

◆ valueAndDerivatives()

template<typename T >

T gtsam::Expression< T >::valueAndDerivatives	(	const Values &	values,
		const KeyVector &	keys,
		const FastVector< int > &	dims,
		std::vector< Matrix > &	H
	)		const

protected

private version that takes keys and dimensions, returns derivatives

Definition at line 168 of file Expression-inl.h.

◆ valueAndJacobianMap()

template<typename T >

T gtsam::Expression< T >::valueAndJacobianMap	(	const Values &	values,
		internal::JacobianMap &	jacobians
	)		const

protected

brief Return value and derivatives, reverse AD version

Definition at line 205 of file Expression-inl.h.

Friends And Related Function Documentation

◆ ::ExpressionFactorShallowTest

template<typename T >

friend class ::ExpressionFactorShallowTest

friend

Definition at line 215 of file Expression.h.

◆ ExpressionEqualityConstraint< T >

template<typename T >

friend class ExpressionEqualityConstraint< T >

friend

Definition at line 211 of file Expression.h.

◆ ExpressionFactor< T >

template<typename T >

friend class ExpressionFactor< T >

friend

Definition at line 209 of file Expression.h.

◆ internal::ExpressionNode< T >

template<typename T >

friend class internal::ExpressionNode< T >

friend

Definition at line 210 of file Expression.h.

◆ ScalarExpressionInequalityConstraint

template<typename T >

friend class ScalarExpressionInequalityConstraint

friend

Definition at line 212 of file Expression.h.

Member Data Documentation

◆ root_

template<typename T >

std::shared_ptr<internal::ExpressionNode<T> > gtsam::Expression< T >::root_

protected

Definition at line 59 of file Expression.h.

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

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Friends

Detailed Description

template<typename T> class gtsam::Expression< T >

Member Typedef Documentation

◆ KeysAndDims

◆ type

Constructor & Destructor Documentation

◆ Expression() [1/12]

◆ Expression() [2/12]

◆ Expression() [3/12]

◆ Expression() [4/12]

◆ Expression() [5/12]

◆ Expression() [6/12]

◆ Expression() [7/12]

◆ Expression() [8/12]

◆ Expression() [9/12]

◆ Expression() [10/12]

◆ Expression() [11/12]

◆ ~Expression()

◆ Expression() [12/12]

Member Function Documentation

◆ clone()

◆ dims()

◆ keys()

◆ keysAndDims()

◆ operator+=()

◆ print()

◆ root()

◆ traceExecution()

◆ traceSize()

◆ value() [1/2]

◆ value() [2/2]

◆ valueAndDerivatives()

◆ valueAndJacobianMap()

Friends And Related Function Documentation

◆ ::ExpressionFactorShallowTest

◆ ExpressionEqualityConstraint< T >

◆ ExpressionFactor< T >

◆ internal::ExpressionNode< T >

◆ ScalarExpressionInequalityConstraint

Member Data Documentation

◆ root_

template<typename T>
class gtsam::Expression< T >