#include <NoiseModel.h>

Inheritance diagram for gtsam::noiseModel::Isotropic:

[legend]

Public Types
typedef std::shared_ptr< Isotropic >	shared_ptr

Public Types inherited from gtsam::noiseModel::Diagonal
typedef std::shared_ptr< Diagonal >	shared_ptr

Public Types inherited from gtsam::noiseModel::Gaussian
typedef std::shared_ptr< Gaussian >	shared_ptr

Public Types inherited from gtsam::noiseModel::Base
typedef std::shared_ptr< Base >	shared_ptr

Public Member Functions
	Isotropic ()

void	print (const std::string &name) const override

double	sigma () const

double	squaredMahalanobisDistance (const Vector &v) const override
	Squared Mahalanobis distance v'R'Rv = <Rv,R*v> More...

Vector	unwhiten (const Vector &v) const override
	Unwhiten an error vector. More...

Matrix	Whiten (const Matrix &H) const override

Vector	whiten (const Vector &v) const override
	Whiten an error vector. More...

void	WhitenInPlace (Eigen::Block< Matrix > H) const override

void	WhitenInPlace (Matrix &H) const override

void	whitenInPlace (Vector &v) const override

	~Isotropic () override

Public Member Functions inherited from gtsam::noiseModel::Diagonal
	Diagonal ()

double	invsigma (size_t i) const

const Vector &	invsigmas () const

double	precision (size_t i) const

const Vector &	precisions () const

Matrix	R () const override

double	sigma (size_t i) const

Vector	sigmas () const override
	Calculate standard deviations. More...

	~Diagonal () override

Public Member Functions inherited from gtsam::noiseModel::Gaussian
virtual Matrix	covariance () const
	Compute covariance matrix. More...

bool	equals (const Base &expected, double tol=1e-9) const override

	Gaussian (size_t dim=1, const std::optional< Matrix > &sqrt_information={})

virtual Matrix	information () const
	Compute information matrix. More...

double	logDeterminant () const
	Compute the log of \|Σ\|. More...

double	negLogConstant () const
	Compute the negative log of the normalization constant for a Gaussian noise model k = 1/\sqrt(\|2πΣ\|). More...

virtual std::shared_ptr< Diagonal >	QR (Matrix &Ab) const

void	WhitenSystem (Matrix &A, Vector &b) const override

void	WhitenSystem (Matrix &A1, Matrix &A2, Matrix &A3, Vector &b) const override

void	WhitenSystem (Matrix &A1, Matrix &A2, Vector &b) const override

void	WhitenSystem (std::vector< Matrix > &A, Vector &b) const override

	~Gaussian () override

Public Member Functions inherited from gtsam::noiseModel::Base
	Base (size_t dim=1)
	primary constructor More...

size_t	dim () const
	Dimensionality. More...

virtual bool	isConstrained () const
	true if a constrained noise model, saves slow/clumsy dynamic casting More...

virtual bool	isUnit () const
	true if a unit noise model, saves slow/clumsy dynamic casting More...

virtual double	loss (const double squared_distance) const
	loss function, input is Mahalanobis distance More...

virtual double	mahalanobisDistance (const Vector &v) const
	Mahalanobis distance. More...

virtual Vector	unweightedWhiten (const Vector &v) const

virtual void	unwhitenInPlace (Eigen::Block< Vector > &v) const

virtual void	unwhitenInPlace (Vector &v) const

virtual double	weight (const Vector &v) const

virtual void	whitenInPlace (Eigen::Block< Vector > &v) const

virtual	~Base ()

Static Public Member Functions
static shared_ptr	Precision (size_t dim, double precision, bool smart=true)

static shared_ptr	Sigma (size_t dim, double sigma, bool smart=true)

static shared_ptr	Variance (size_t dim, double variance, bool smart=true)

Static Public Member Functions inherited from gtsam::noiseModel::Diagonal
static shared_ptr	Precisions (const Vector &precisions, bool smart=true)

static shared_ptr	Sigmas (const Vector &sigmas, bool smart=true)

static shared_ptr	Variances (const Vector &variances, bool smart=true)

Static Public Member Functions inherited from gtsam::noiseModel::Gaussian
static shared_ptr	Covariance (const Matrix &covariance, bool smart=true)

static shared_ptr	Information (const Matrix &M, bool smart=true)

static shared_ptr	SqrtInformation (const Matrix &R, bool smart=true)

Protected Member Functions
	Isotropic (size_t dim, double sigma)

virtual double	logDetR () const override
	Compute the log of \|R\|. Used for computing log(\|Σ\|) More...

Protected Member Functions inherited from gtsam::noiseModel::Diagonal
	Diagonal (const Vector &sigmas)

Protected Attributes
double	invsigma_

double	sigma_

Protected Attributes inherited from gtsam::noiseModel::Diagonal
Vector	invsigmas_

Vector	precisions_

Vector	sigmas_

Protected Attributes inherited from gtsam::noiseModel::Gaussian
std::optional< Matrix >	sqrt_information_

Protected Attributes inherited from gtsam::noiseModel::Base
size_t	dim_

Detailed Description

An isotropic noise model corresponds to a scaled diagonal covariance To construct, use one of the static methods

Definition at line 541 of file NoiseModel.h.

Member Typedef Documentation

◆ shared_ptr

typedef std::shared_ptr<Isotropic> gtsam::noiseModel::Isotropic::shared_ptr

Definition at line 559 of file NoiseModel.h.

Constructor & Destructor Documentation

◆ Isotropic() [1/2]

gtsam::noiseModel::Isotropic::Isotropic	(	size_t	dim,
		double	sigma
	)

inlineprotected

protected constructor takes sigma

Definition at line 546 of file NoiseModel.h.

◆ Isotropic() [2/2]

gtsam::noiseModel::Isotropic::Isotropic ( )

inline

Definition at line 555 of file NoiseModel.h.

◆ ~Isotropic()

gtsam::noiseModel::Isotropic::~Isotropic ( )

inlineoverride

Definition at line 557 of file NoiseModel.h.

Member Function Documentation

◆ logDetR()

double gtsam::noiseModel::Isotropic::logDetR ( ) const

overrideprotectedvirtual

Compute the log of |R|. Used for computing log(|Σ|)

Reimplemented from gtsam::noiseModel::Diagonal.

Reimplemented in gtsam::noiseModel::Unit.

Definition at line 668 of file NoiseModel.cpp.

◆ Precision()

static shared_ptr gtsam::noiseModel::Isotropic::Precision	(	size_t	dim,
		double	precision,
		bool	smart = `true`
	)

inlinestatic

An isotropic noise model created by specifying a precision

Definition at line 577 of file NoiseModel.h.

◆ print()

void gtsam::noiseModel::Isotropic::print ( const std::string & name ) const

overridevirtual

Reimplemented from gtsam::noiseModel::Diagonal.

Reimplemented in gtsam::noiseModel::Unit.

Definition at line 628 of file NoiseModel.cpp.

◆ sigma()

double gtsam::noiseModel::Isotropic::sigma ( ) const

inline

Return standard deviation

Definition at line 593 of file NoiseModel.h.

◆ Sigma()

Isotropic::shared_ptr gtsam::noiseModel::Isotropic::Sigma	(	size_t	dim,
		double	sigma,
		bool	smart = `true`
	)

static

An isotropic noise model created by specifying a standard devation sigma

Definition at line 616 of file NoiseModel.cpp.

◆ squaredMahalanobisDistance()

double gtsam::noiseModel::Isotropic::squaredMahalanobisDistance ( const Vector & v ) const

overridevirtual

Squared Mahalanobis distance v'*R'*R*v = <R*v,R*v>

Reimplemented from gtsam::noiseModel::Base.

Reimplemented in gtsam::noiseModel::Unit.

Definition at line 633 of file NoiseModel.cpp.

◆ unwhiten()

Vector gtsam::noiseModel::Isotropic::unwhiten ( const Vector & v ) const

overridevirtual

Unwhiten an error vector.

Reimplemented from gtsam::noiseModel::Diagonal.

Reimplemented in gtsam::noiseModel::Unit.

Definition at line 643 of file NoiseModel.cpp.

◆ Variance()

Isotropic::shared_ptr gtsam::noiseModel::Isotropic::Variance	(	size_t	dim,
		double	variance,
		bool	smart = `true`
	)

static

An isotropic noise model created by specifying a variance = sigma^2.

Parameters

dim	The dimension of this noise model
variance	The variance of this noise model
smart	check if can be simplified to derived class

Definition at line 622 of file NoiseModel.cpp.

◆ Whiten()

Matrix gtsam::noiseModel::Isotropic::Whiten ( const Matrix & H ) const

overridevirtual

Multiply a derivative with R (derivative of whiten) Equivalent to whitening each column of the input matrix.

Reimplemented from gtsam::noiseModel::Diagonal.

Reimplemented in gtsam::noiseModel::Unit.

Definition at line 648 of file NoiseModel.cpp.

◆ whiten()

Vector gtsam::noiseModel::Isotropic::whiten ( const Vector & v ) const

overridevirtual

Whiten an error vector.

Reimplemented from gtsam::noiseModel::Diagonal.

Reimplemented in gtsam::noiseModel::Unit.

Definition at line 638 of file NoiseModel.cpp.

◆ WhitenInPlace() [1/2]

void gtsam::noiseModel::Isotropic::WhitenInPlace ( Eigen::Block< Matrix > H ) const

overridevirtual

In-place version

Reimplemented from gtsam::noiseModel::Diagonal.

Reimplemented in gtsam::noiseModel::Unit.

Definition at line 663 of file NoiseModel.cpp.

◆ WhitenInPlace() [2/2]

void gtsam::noiseModel::Isotropic::WhitenInPlace ( Matrix & H ) const

overridevirtual

In-place version

Reimplemented from gtsam::noiseModel::Diagonal.

Reimplemented in gtsam::noiseModel::Unit.

Definition at line 653 of file NoiseModel.cpp.

◆ whitenInPlace()

void gtsam::noiseModel::Isotropic::whitenInPlace ( Vector & v ) const

overridevirtual

in-place whiten, override if can be done more efficiently

Reimplemented from gtsam::noiseModel::Base.

Reimplemented in gtsam::noiseModel::Unit.

Definition at line 658 of file NoiseModel.cpp.

Member Data Documentation

◆ invsigma_

double gtsam::noiseModel::Isotropic::invsigma_

protected

Definition at line 543 of file NoiseModel.h.

◆ sigma_

double gtsam::noiseModel::Isotropic::sigma_

protected

Definition at line 543 of file NoiseModel.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ shared_ptr

Constructor & Destructor Documentation

◆ Isotropic() [1/2]

◆ Isotropic() [2/2]

◆ ~Isotropic()

Member Function Documentation

◆ logDetR()

◆ Precision()

◆ print()

◆ sigma()

◆ Sigma()

◆ squaredMahalanobisDistance()

◆ unwhiten()

◆ Variance()

◆ Whiten()

◆ whiten()

◆ WhitenInPlace() [1/2]

◆ WhitenInPlace() [2/2]

◆ whitenInPlace()

Member Data Documentation

◆ invsigma_

◆ sigma_