#include <KarcherMeanFactor.h>
Public Member Functions | |
| size_t | dim () const override |
| get the dimension of the factor (number of rows on linearization) More... | |
| double | error (const Values &c) const override |
| Calculate the error of the factor: always zero. More... | |
| template<typename CONTAINER > | |
| KarcherMeanFactor (const CONTAINER &keys, int d=D, std::optional< double > beta={}) | |
| std::shared_ptr< GaussianFactor > | linearize (const Values &c) const override |
| linearize to a GaussianFactor More... | |
| ~KarcherMeanFactor () override | |
| Destructor. More... | |
 Public Member Functions inherited from gtsam::NonlinearFactor | |
| NonlinearFactor () | |
| template<typename CONTAINER > | |
| NonlinearFactor (const CONTAINER &keys) | |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| virtual bool | equals (const NonlinearFactor &f, double tol=1e-9) const |
| double | error (const HybridValues &c) const override |
| virtual bool | active (const Values &c) const |
| virtual shared_ptr | clone () const |
| virtual shared_ptr | rekey (const std::map< Key, Key > &rekey_mapping) const |
| virtual shared_ptr | rekey (const KeyVector &new_keys) const |
| virtual bool | sendable () const |
| Public Member Functions inherited from gtsam::Factor | |
| virtual | ~Factor ()=default |
| Default destructor. More... | |
| bool | empty () const |
| Whether the factor is empty (involves zero variables). 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... | |
| bool | equals (const This &other, double tol=1e-9) const |
| check equality More... | |
| KeyVector & | keys () |
| iterator | begin () |
| iterator | end () |
Private Attributes | |
| size_t | d_ |
| std::shared_ptr< JacobianFactor > | whitenedJacobian_ |
| Constant Jacobian made of d*d identity matrices. More... | |
Static Private Attributes | |
| constexpr static auto | D = traits<T>::dimension |
Additional Inherited Members | |
| Public Types inherited from gtsam::NonlinearFactor | |
| typedef std::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 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) | |
| 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 T>
class gtsam::KarcherMeanFactor< T >
The KarcherMeanFactor creates a constraint on all SO(n) variables with given keys that the Karcher mean (see above) will stay the same. Note the mean itself is irrelevant to the constraint and is not a parameter: the constraint is implemented as enforcing that the sum of local updates is equal to zero, hence creating a rank-dim constraint. Note it is implemented as a soft constraint, as typically it is used to fix a gauge freedom.
Definition at line 50 of file KarcherMeanFactor.h.
Constructor & Destructor Documentation
◆ KarcherMeanFactor()
| gtsam::KarcherMeanFactor< T >::KarcherMeanFactor | ( | const CONTAINER & | keys, |
| int | d = D, |
||
| std::optional< double > | beta = {} |
||
| ) |
Construct from given keys. If parameter beta is given, it acts as a precision = 1/sigma^2, and the Jacobian will be multiplied with 1/sigma = sqrt(beta).
Definition at line 61 of file KarcherMeanFactor-inl.h.
◆ ~KarcherMeanFactor()
|
inlineoverride |
Destructor.
Definition at line 71 of file KarcherMeanFactor.h.
Member Function Documentation
◆ dim()
|
inlineoverridevirtual |
get the dimension of the factor (number of rows on linearization)
Implements gtsam::NonlinearFactor.
Definition at line 77 of file KarcherMeanFactor.h.
◆ error()
|
inlineoverridevirtual |
Calculate the error of the factor: always zero.
Reimplemented from gtsam::NonlinearFactor.
Definition at line 74 of file KarcherMeanFactor.h.
◆ linearize()
|
inlineoverridevirtual |
linearize to a GaussianFactor
Implements gtsam::NonlinearFactor.
Definition at line 80 of file KarcherMeanFactor.h.
Member Data Documentation
◆ D
|
inlinestaticconstexprprivate |
Definition at line 52 of file KarcherMeanFactor.h.
◆ d_
|
private |
Definition at line 55 of file KarcherMeanFactor.h.
◆ whitenedJacobian_
|
private |
Constant Jacobian made of d*d identity matrices.
Definition at line 58 of file KarcherMeanFactor.h.
The documentation for this class was generated from the following files: