#include <NonlinearEquality.h>

Inheritance diagram for gtsam::NonlinearEquality< VALUE >:

[legend]

Public Types
using	CompareFunction = std::function< bool(const T &, const T &)>
	Function that compares two values. More...

typedef VALUE	T

Public Types inherited from gtsam::NonlinearEqualityConstraint
typedef NonlinearConstraint	Base

typedef NonlinearFactor	Base

typedef std::shared_ptr< This >	shared_ptr

typedef NonlinearEqualityConstraint	This

Public Types inherited from gtsam::NonlinearConstraint
typedef NoiseModelFactor	Base

typedef NonlinearFactor	Base

Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< This >	shared_ptr

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...

Public Member Functions
	NonlinearEquality ()
	Default constructor - only for serialization. More...

	~NonlinearEquality () override

Public Member Functions inherited from gtsam::NonlinearEqualityConstraint
virtual	~NonlinearEqualityConstraint ()

Public Member Functions inherited from gtsam::NonlinearConstraint
double	error (const HybridValues &c) const override

virtual double	error (const Values &c) const

virtual bool	feasible (const Values &x, const double tolerance=1e-5) const

virtual NoiseModelFactor::shared_ptr	penaltyFactor (const double mu=1.0) const

const Vector	sigmas () const

virtual std::vector< Matrix >	unwhitenedHessian (const Values &x) const

virtual double	violation (const Values &x) const

virtual	~NonlinearConstraint ()

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 HybridValues &c) const override

virtual double	error (const Values &c) const

double	error (const Values &c) const override

std::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

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) 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)

double	error (const HybridValues &c) const override

virtual bool	active (const Values &c) 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 ()

Public Attributes
CompareFunction	compare_

Private Types
using	Base = NonlinearEqualityConstraint

using	This = NonlinearEquality< VALUE >

Private Attributes
bool	allow_error_

double	error_gain_

T	feasible_

Standard Constructors
	NonlinearEquality (Key j, const T &feasible, const CompareFunction &_compare=std::bind(traits< T >::Equals, std::placeholders::_1, std::placeholders::_2, 1e-9))

	NonlinearEquality (Key j, const T &feasible, double error_gain, const CompareFunction &_compare=std::bind(traits< T >::Equals, std::placeholders::_1, std::placeholders::_2, 1e-9))

Key	key () const

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

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

Standard Interface
double	error (const Values &c) const override
	Actual error function calculation. More...

Vector	evaluateError (const T &xj, OptionalMatrixType H=nullptr) const
	Error function. More...

Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override

GaussianFactor::shared_ptr	linearize (const Values &x) const override
	Linearize is over-written, because base linearization tries to whiten. More...

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

Additional Inherited Members
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::NonlinearConstraint
SharedDiagonal	penaltyNoise (const double mu) const

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)

Static Protected Member Functions inherited from gtsam::NonlinearConstraint
static SharedNoiseModel	constrainedNoise (const Vector &sigmas)

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 VALUE>
class gtsam::NonlinearEquality< VALUE >

An equality factor that forces either one variable to a constant, or a set of variables to be equal to each other.

Depending on flag, throws an error at linearization if the constraints are not met.

Switchable implementation:

ALLLOW_ERROR : if we allow that there can be nonzero error, does not throw, and uses gain
ONLY_EXACT : throws error at linearization if not at exact feasible point, and infinite error

Definition at line 44 of file NonlinearEquality.h.

Member Typedef Documentation

◆ Base

template<class VALUE >

using gtsam::NonlinearEquality< VALUE >::Base = NonlinearEqualityConstraint

private

Definition at line 64 of file NonlinearEquality.h.

◆ CompareFunction

template<class VALUE >

using gtsam::NonlinearEquality< VALUE >::CompareFunction = std::function<bool(const T&, const T&)>

Function that compares two values.

Definition at line 69 of file NonlinearEquality.h.

◆ T

template<class VALUE >

typedef VALUE gtsam::NonlinearEquality< VALUE >::T

Definition at line 47 of file NonlinearEquality.h.

◆ This

template<class VALUE >

using gtsam::NonlinearEquality< VALUE >::This = NonlinearEquality<VALUE>

private

Definition at line 61 of file NonlinearEquality.h.

Constructor & Destructor Documentation

◆ NonlinearEquality() [1/3]

template<class VALUE >

gtsam::NonlinearEquality< VALUE >::NonlinearEquality ( )

inline

Default constructor - only for serialization.

Definition at line 73 of file NonlinearEquality.h.

◆ ~NonlinearEquality()

template<class VALUE >

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

inlineoverride

Definition at line 76 of file NonlinearEquality.h.

◆ NonlinearEquality() [2/3]

template<class VALUE >

gtsam::NonlinearEquality< VALUE >::NonlinearEquality	(	Key	j,
		const T &	feasible,
		const CompareFunction &	_compare = `std::bind(traits<T>::Equals, std::placeholders::_1, std::placeholders::_2, 1e-9)`
	)

inline

Constructor - forces exact evaluation

Definition at line 85 of file NonlinearEquality.h.

◆ NonlinearEquality() [3/3]

template<class VALUE >

gtsam::NonlinearEquality< VALUE >::NonlinearEquality	(	Key	j,
		const T &	feasible,
		double	error_gain,
		const CompareFunction &	_compare = `std::bind(traits<T>::Equals, std::placeholders::_1, std::placeholders::_2, 1e-9)`
	)

inline

Constructor - allows inexact evaluation

Definition at line 96 of file NonlinearEquality.h.

Member Function Documentation

◆ clone()

template<class VALUE >

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 183 of file NonlinearEquality.h.

◆ equals()

template<class VALUE >

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

inlineoverridevirtual

Check if two factors are equal

Reimplemented from gtsam::NonlinearFactor.

Definition at line 122 of file NonlinearEquality.h.

◆ error()

template<class VALUE >

double gtsam::NonlinearEquality< VALUE >::error ( const Values & c ) const

inlineoverridevirtual

Actual error function calculation.

Reimplemented from gtsam::NonlinearFactor.

Definition at line 133 of file NonlinearEquality.h.

◆ evaluateError()

template<class VALUE >

Vector gtsam::NonlinearEquality< VALUE >::evaluateError	(	const T &	xj,
		OptionalMatrixType	H = `nullptr`
	)		const

inline

Error function.

Definition at line 144 of file NonlinearEquality.h.

◆ key()

template<class VALUE >

Key gtsam::NonlinearEquality< VALUE >::key ( ) const

inline

Definition at line 104 of file NonlinearEquality.h.

◆ linearize()

template<class VALUE >

GaussianFactor::shared_ptr gtsam::NonlinearEquality< VALUE >::linearize ( const Values & x ) const

inlineoverridevirtual

Linearize is over-written, because base linearization tries to whiten.

Implements gtsam::NonlinearFactor.

Definition at line 173 of file NonlinearEquality.h.

◆ print()

template<class VALUE >

void gtsam::NonlinearEquality< VALUE >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 112 of file NonlinearEquality.h.

◆ unwhitenedError()

template<class VALUE >

Vector gtsam::NonlinearEquality< VALUE >::unwhitenedError	(	const Values &	x,
		OptionalMatrixVecType	H = `nullptr`
	)		const

inlineoverridevirtual

Error function without the NoiseModel, $ z-h(x) $ . Override this method to finish implementing an N-way factor. If the optional arguments is specified, it should compute both the function evaluation and its derivative(s) in H.

Implements gtsam::NoiseModelFactor.

Definition at line 163 of file NonlinearEquality.h.

Member Data Documentation

◆ allow_error_

template<class VALUE >

bool gtsam::NonlinearEquality< VALUE >::allow_error_

private

Definition at line 55 of file NonlinearEquality.h.

◆ compare_

template<class VALUE >

CompareFunction gtsam::NonlinearEquality< VALUE >::compare_

Definition at line 70 of file NonlinearEquality.h.

◆ error_gain_

template<class VALUE >

double gtsam::NonlinearEquality< VALUE >::error_gain_

private

Definition at line 58 of file NonlinearEquality.h.

◆ feasible_

template<class VALUE >

T gtsam::NonlinearEquality< VALUE >::feasible_

private

Definition at line 52 of file NonlinearEquality.h.

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

NonlinearEquality.h

Public Types

Public Member Functions

Public Attributes

Private Types

Private Attributes

Standard Constructors

Testable

Standard Interface

Additional Inherited Members

Detailed Description

template<class VALUE> class gtsam::NonlinearEquality< VALUE >

Member Typedef Documentation

◆ Base

◆ CompareFunction

◆ T

◆ This

Constructor & Destructor Documentation

◆ NonlinearEquality() [1/3]

◆ ~NonlinearEquality()

◆ NonlinearEquality() [2/3]

◆ NonlinearEquality() [3/3]

Member Function Documentation

◆ clone()

◆ equals()

◆ error()

◆ evaluateError()

◆ key()

◆ linearize()

◆ print()

◆ unwhitenedError()

Member Data Documentation

◆ allow_error_

◆ compare_

◆ error_gain_

◆ feasible_

template<class VALUE>
class gtsam::NonlinearEquality< VALUE >