Container of NonlinearInequalityConstraint. More...
#include <NonlinearInequalityConstraint.h>
Inheritance diagram for gtsam::NonlinearInequalityConstraints:
Public Types | |
| typedef FactorGraph< NonlinearInequalityConstraint > | Base |
| typedef std::shared_ptr< This > | shared_ptr |
| typedef NonlinearInequalityConstraints | This |
 Public Types inherited from gtsam::FactorGraph< NonlinearInequalityConstraint > | |
| typedef FastVector< sharedFactor >::const_iterator | const_iterator |
| typedef NonlinearInequalityConstraint | FactorType |
| factor type More... | |
| typedef FastVector< sharedFactor >::iterator | iterator |
| typedef std::shared_ptr< NonlinearInequalityConstraint > | sharedFactor |
| Shared pointer to a factor. More... | |
| typedef sharedFactor | value_type |
Public Member Functions | |
| size_t | dim () const |
| NonlinearFactorGraph | penaltyGraph (const double mu=1.0) const |
| NonlinearFactorGraph | penaltyGraphCustom (InequalityPenaltyFunction::shared_ptr func, const double mu=1.0) const |
| double | violationNorm (const Values &values) const |
| Vector | violationVector (const Values &values, bool whiten=true) const |
| Public Member Functions inherited from gtsam::FactorGraph< NonlinearInequalityConstraint > | |
| FactorGraph (std::initializer_list< std::shared_ptr< DERIVEDFACTOR >> sharedFactors) | |
| virtual | ~FactorGraph ()=default |
| void | reserve (size_t size) |
| IsDerived< DERIVEDFACTOR > | push_back (std::shared_ptr< DERIVEDFACTOR > factor) |
| Add a factor directly using a shared_ptr. More... | |
| IsDerived< DERIVEDFACTOR > | push_back (const DERIVEDFACTOR &factor) |
| IsDerived< DERIVEDFACTOR > | emplace_shared (Args &&... args) |
| Emplace a shared pointer to factor of given type. More... | |
| IsDerived< DERIVEDFACTOR > | add (std::shared_ptr< DERIVEDFACTOR > factor) |
add is a synonym for push_back. More... | |
| std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, This >::type & | operator+= (std::shared_ptr< DERIVEDFACTOR > factor) |
| Append factor to factor graph. More... | |
| std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, This >::type & | operator, (std::shared_ptr< DERIVEDFACTOR > factor) |
| Overload comma operator to allow for append chaining. More... | |
| HasDerivedElementType< ITERATOR > | push_back (ITERATOR firstFactor, ITERATOR lastFactor) |
| HasDerivedValueType< ITERATOR > | push_back (ITERATOR firstFactor, ITERATOR lastFactor) |
| Push back many factors with an iterator (factors are copied) More... | |
| HasDerivedElementType< CONTAINER > | push_back (const CONTAINER &container) |
| HasDerivedValueType< CONTAINER > | push_back (const CONTAINER &container) |
| Push back non-pointer objects in a container (factors are copied). More... | |
| void | add (const FACTOR_OR_CONTAINER &factorOrContainer) |
| This & | operator+= (const FACTOR_OR_CONTAINER &factorOrContainer) |
| std::enable_if< std::is_base_of< This, typename CLIQUE::FactorGraphType >::value >::type | push_back (const BayesTree< CLIQUE > &bayesTree) |
| FactorIndices | add_factors (const CONTAINER &factors, bool useEmptySlots=false) |
| virtual void | print (const std::string &s="FactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| Print out graph to std::cout, with optional key formatter. More... | |
| bool | equals (const This &fg, double tol=1e-9) const |
| Check equality up to tolerance. More... | |
| size_t | size () const |
| bool | empty () const |
| const sharedFactor | at (size_t i) const |
| sharedFactor & | at (size_t i) |
| std::shared_ptr< F > | at (size_t i) |
| const std::shared_ptr< F > | at (size_t i) const |
Const version of templated at method. More... | |
| const sharedFactor | operator[] (size_t i) const |
| sharedFactor & | operator[] (size_t i) |
| const_iterator | begin () const |
| const_iterator | end () const |
| sharedFactor | front () const |
| sharedFactor | back () const |
| double | error (const HybridValues &values) const |
| iterator | begin () |
| iterator | end () |
| virtual void | resize (size_t size) |
| void | remove (size_t i) |
| void | replace (size_t index, sharedFactor factor) |
| iterator | erase (iterator item) |
| iterator | erase (iterator first, iterator last) |
| void | dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
| Output to graphviz format, stream version. More... | |
| std::string | dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
| Output to graphviz format string. More... | |
| void | saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const |
| output to file with graphviz format. More... | |
| size_t | nrFactors () const |
| KeySet | keys () const |
| KeyVector | keyVector () const |
| bool | exists (size_t idx) const |
Additional Inherited Members | |
| Protected Member Functions inherited from gtsam::FactorGraph< NonlinearInequalityConstraint > | |
| bool | isEqual (const FactorGraph &other) const |
| Check exact equality of the factor pointers. Useful for derived ==. More... | |
| FactorGraph () | |
| FactorGraph (ITERATOR firstFactor, ITERATOR lastFactor) | |
| FactorGraph (const CONTAINER &factors) | |
| Protected Attributes inherited from gtsam::FactorGraph< NonlinearInequalityConstraint > | |
| FastVector< sharedFactor > | factors_ |
Detailed Description
Container of NonlinearInequalityConstraint.
Definition at line 146 of file NonlinearInequalityConstraint.h.
Member Typedef Documentation
◆ Base
Definition at line 149 of file NonlinearInequalityConstraint.h.
◆ shared_ptr
| typedef std::shared_ptr<This> gtsam::NonlinearInequalityConstraints::shared_ptr |
Definition at line 151 of file NonlinearInequalityConstraint.h.
◆ This
Definition at line 150 of file NonlinearInequalityConstraint.h.
Member Function Documentation
◆ dim()
| size_t gtsam::NonlinearInequalityConstraints::dim | ( | ) | const |
Return the total dimension of constraints.
Definition at line 134 of file NonlinearInequalityConstraint.cpp.
◆ penaltyGraph()
| NonlinearFactorGraph gtsam::NonlinearInequalityConstraints::penaltyGraph | ( | const double | mu = 1.0 | ) | const |
Return the penalty function corresponding to \sum_i||ramp(g_i(x))||^2.
Definition at line 161 of file NonlinearInequalityConstraint.cpp.
◆ penaltyGraphCustom()
| NonlinearFactorGraph gtsam::NonlinearInequalityConstraints::penaltyGraphCustom | ( | InequalityPenaltyFunction::shared_ptr | func, |
| const double | mu = 1.0 |
||
| ) | const |
Return the cost graph constructed using a customized penalty function.
Definition at line 170 of file NonlinearInequalityConstraint.cpp.
◆ violationNorm()
| double gtsam::NonlinearInequalityConstraints::violationNorm | ( | const Values & | values | ) | const |
Evaluate the constraint violation (as L2 norm).
Definition at line 156 of file NonlinearInequalityConstraint.cpp.
◆ violationVector()
| Vector gtsam::NonlinearInequalityConstraints::violationVector | ( | const Values & | values, |
| bool | whiten = true |
||
| ) | const |
Evaluate the constraint violation as a vector.
Definition at line 143 of file NonlinearInequalityConstraint.cpp.
The documentation for this class was generated from the following files: