#include <NonlinearEquality.h>
Inheritance diagram for gtsam::NonlinearEquality1< VALUE >:
Public Types | |
| typedef std::shared_ptr< NonlinearEquality1< VALUE > > | shared_ptr |
| fixed value for variable More... | |
| typedef VALUE | X |
 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 | |
| gtsam::NonlinearFactor::shared_ptr | clone () const override |
| Vector | evaluateError (const X &x1, OptionalMatrixType H=nullptr) const |
| g(x) with optional derivative More... | |
| Key | key () const |
| NonlinearEquality1 (const X &value, Key key, double mu=1000.0) | |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| Print. More... | |
| Vector | unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override |
| ~NonlinearEquality1 () 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 () |
Protected Types | |
| typedef NonlinearEqualityConstraint | Base |
| typedef NonlinearEquality1< VALUE > | 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 | |
| NonlinearEquality1 () | |
| Default constructor to allow for serialization. More... | |
| 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) | |
Protected Attributes | |
| X | value_ |
| Protected Attributes inherited from gtsam::NoiseModelFactor | |
| SharedNoiseModel | noiseModel_ |
| Protected Attributes inherited from gtsam::Factor | |
| KeyVector | keys_ |
| The keys involved in this factor. More... | |
Additional Inherited Members | |
| 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) |
Detailed Description
template<class VALUE>
class gtsam::NonlinearEquality1< VALUE >
Simple unary equality constraint - fixes a value for a variable
Definition at line 220 of file NonlinearEquality.h.
Member Typedef Documentation
◆ Base
template<class VALUE >
|
protected |
Definition at line 226 of file NonlinearEquality.h.
◆ shared_ptr
template<class VALUE >
| typedef std::shared_ptr<NonlinearEquality1<VALUE> > gtsam::NonlinearEquality1< VALUE >::shared_ptr |
fixed value for variable
Definition at line 240 of file NonlinearEquality.h.
◆ This
template<class VALUE >
|
protected |
Definition at line 227 of file NonlinearEquality.h.
◆ X
template<class VALUE >
| typedef VALUE gtsam::NonlinearEquality1< VALUE >::X |
Definition at line 223 of file NonlinearEquality.h.
Constructor & Destructor Documentation
◆ NonlinearEquality1() [1/2]
template<class VALUE >
|
inlineprotected |
Default constructor to allow for serialization.
Definition at line 230 of file NonlinearEquality.h.
◆ NonlinearEquality1() [2/2]
template<class VALUE >
|
inline |
Constructor
- Parameters
-
value feasible value that values(key) shouild be equal to key the key for the unknown variable to be constrained mu a parameter which really turns this into a strong prior
Definition at line 248 of file NonlinearEquality.h.
◆ ~NonlinearEquality1()
template<class VALUE >
|
inlineoverride |
Definition at line 254 of file NonlinearEquality.h.
Member Function Documentation
◆ clone()
template<class VALUE >
|
inlineoverridevirtual |
- Returns
- a deep copy of this factor
Reimplemented from gtsam::NonlinearFactor.
Definition at line 258 of file NonlinearEquality.h.
◆ evaluateError()
template<class VALUE >
|
inline |
g(x) with optional derivative
Definition at line 266 of file NonlinearEquality.h.
◆ key()
template<class VALUE >
|
inline |
Definition at line 263 of file NonlinearEquality.h.
◆ print()
template<class VALUE >
|
inlineoverridevirtual |
◆ unwhitenedError()
template<class VALUE >
|
inlineoverridevirtual |
Error function without the NoiseModel, 
. 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 273 of file NonlinearEquality.h.
Member Data Documentation
◆ value_
template<class VALUE >
|
protected |
Definition at line 233 of file NonlinearEquality.h.
The documentation for this class was generated from the following file: