#include <BinaryJacobianFactor.h>
Inheritance diagram for gtsam::BinaryJacobianFactor< M, N1, N2 >:
Public Member Functions | |
| BinaryJacobianFactor (Key key1, const Eigen::Matrix< double, M, N1 > &A1, Key key2, const Eigen::Matrix< double, M, N2 > &A2, const Eigen::Matrix< double, M, 1 > &b, const SharedDiagonal &model=SharedDiagonal()) | |
| Constructor. More... | |
| Key | key1 () const |
| Key | key2 () const |
| void | updateHessian (const KeyVector &infoKeys, SymmetricBlockMatrix *info) const override |
 Public Member Functions inherited from gtsam::JacobianFactor | |
| Matrix | augmentedInformation () const override |
| Matrix | augmentedJacobian () const override |
| Matrix | augmentedJacobianUnweighted () const |
| GaussianFactor::shared_ptr | clone () const override |
| size_t | cols () const |
| std::pair< std::shared_ptr< GaussianConditional >, shared_ptr > | eliminate (const Ordering &keys) |
| bool | equals (const GaussianFactor &lf, double tol=1e-9) const override |
| assert equality up to a tolerance More... | |
| double | error (const HybridValues &c) const override |
| virtual double | error (const VectorValues &c) const |
| double | error (const VectorValues &c) const override |
| Vector | error_vector (const VectorValues &c) const |
| SharedDiagonal & | get_model () |
| const SharedDiagonal & | get_model () const |
| ABlock | getA () |
| constABlock | getA () const |
| ABlock | getA (const Key &key) |
| constABlock | getA (const_iterator variable) const |
| ABlock | getA (iterator variable) |
| BVector | getb () |
| const constBVector | getb () const |
| DenseIndex | getDim (const_iterator variable) const override |
| Vector | gradient (Key key, const VectorValues &x) const override |
| Compute the gradient wrt a key at any values. More... | |
| VectorValues | gradientAtZero () const override |
| A'*b for Jacobian. More... | |
| void | gradientAtZero (double *d) const override |
| A'*b for Jacobian (raw memory version) More... | |
| std::map< Key, Matrix > | hessianBlockDiagonal () const override |
| Return the block diagonal of the Hessian for this factor. More... | |
| void | hessianDiagonal (double *d) const override |
| Raw memory access version of hessianDiagonal. More... | |
| void | hessianDiagonalAdd (VectorValues &d) const override |
| Add the current diagonal to a VectorValues instance. More... | |
| Matrix | information () const override |
| bool | isConstrained () const |
| std::pair< Matrix, Vector > | jacobian () const override |
| Returns (dense) A,b pair associated with factor, bakes in the weights. More... | |
| JacobianFactor () | |
| JacobianFactor (const GaussianFactor &gf) | |
| JacobianFactor (const GaussianFactorGraph &graph) | |
| JacobianFactor (const GaussianFactorGraph &graph, const Ordering &ordering) | |
| JacobianFactor (const GaussianFactorGraph &graph, const Ordering &ordering, const VariableSlots &p_variableSlots) | |
| JacobianFactor (const GaussianFactorGraph &graph, const VariableSlots &p_variableSlots) | |
| JacobianFactor (const HessianFactor &hf) | |
| JacobianFactor (const JacobianFactor &jf) | |
| template<typename KEYS > | |
| JacobianFactor (const KEYS &keys, const VerticalBlockMatrix &augmentedMatrix, const SharedDiagonal &sigmas=SharedDiagonal()) | |
| template<typename KEYS > | |
| JacobianFactor (const KEYS &keys, VerticalBlockMatrix &&augmentedMatrix, const SharedDiagonal &model) | |
| template<typename TERMS > | |
| JacobianFactor (const TERMS &terms, const Vector &b, const SharedDiagonal &model=SharedDiagonal()) | |
| JacobianFactor (const Vector &b_in) | |
| JacobianFactor (Key i1, const Matrix &A1, const Vector &b, const SharedDiagonal &model=SharedDiagonal()) | |
| JacobianFactor (Key i1, const Matrix &A1, Key i2, const Matrix &A2, const Vector &b, const SharedDiagonal &model=SharedDiagonal()) | |
| JacobianFactor (Key i1, const Matrix &A1, Key i2, const Matrix &A2, Key i3, const Matrix &A3, const Vector &b, const SharedDiagonal &model=SharedDiagonal()) | |
| std::pair< Matrix, Vector > | jacobianUnweighted () const |
| Returns (dense) A,b pair associated with factor, does not bake in weights. More... | |
| VerticalBlockMatrix & | matrixObject () |
| const VerticalBlockMatrix & | matrixObject () const |
| void | multiplyHessianAdd (double alpha, const double *x, double *y, const std::vector< size_t > &accumulatedDims) const |
| void | multiplyHessianAdd (double alpha, const VectorValues &x, VectorValues &y) const override |
| GaussianFactor::shared_ptr | negate () const override |
| Vector | operator* (const VectorValues &x) const |
| JacobianFactor & | operator= (const JacobianFactor &jf)=default |
| void | print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
| print with optional string More... | |
| size_t | rows () const |
| void | setModel (bool anyConstrained, const Vector &sigmas) |
| std::shared_ptr< GaussianConditional > | splitConditional (size_t nrFrontals) |
| void | transposeMultiplyAdd (double alpha, const Vector &e, VectorValues &x) const |
| Vector | unweighted_error (const VectorValues &c) const |
| void | updateHessian (const KeyVector &keys, SymmetricBlockMatrix *info) const override |
| JacobianFactor | whiten () const |
| ~JacobianFactor () override | |
| Public Member Functions inherited from gtsam::GaussianFactor | |
| GaussianFactor () | |
| template<typename CONTAINER > | |
| GaussianFactor (const CONTAINER &keys) | |
| double | error (const HybridValues &c) const override |
| VectorValues | hessianDiagonal () const |
| Return the diagonal of the Hessian for this factor. More... | |
| 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 () |
Additional Inherited Members | |
| Public Types inherited from gtsam::JacobianFactor | |
| typedef VerticalBlockMatrix::Block | ABlock |
| typedef GaussianFactor | Base |
| Typedef to base class. More... | |
| typedef ABlock::ColXpr | BVector |
| typedef VerticalBlockMatrix::constBlock | constABlock |
| typedef constABlock::ConstColXpr | constBVector |
| typedef std::shared_ptr< This > | shared_ptr |
| shared_ptr to this class More... | |
| typedef JacobianFactor | This |
| Typedef to this class. More... | |
| Public Types inherited from gtsam::GaussianFactor | |
| typedef Factor | Base |
| Our base class. More... | |
| typedef std::shared_ptr< This > | shared_ptr |
| shared_ptr to this class More... | |
| typedef GaussianFactor | This |
| This class. More... | |
| 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... | |
| Static Public Member Functions inherited from gtsam::GaussianFactor | |
| template<typename CONTAINER > | |
| static DenseIndex | Slot (const CONTAINER &keys, Key key) |
| Protected Member Functions inherited from gtsam::JacobianFactor | |
| void | checkAb (const SharedDiagonal &model, const VerticalBlockMatrix &augmentedMatrix) const |
| Common code between VerticalBlockMatrix constructors. More... | |
| template<typename TERMS > | |
| void | fillTerms (const TERMS &terms, const Vector &b, const SharedDiagonal &noiseModel) |
| Internal function to fill blocks and set dimensions. More... | |
| 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::JacobianFactor | |
| VerticalBlockMatrix | Ab_ |
| noiseModel::Diagonal::shared_ptr | model_ |
| Protected Attributes inherited from gtsam::Factor | |
| KeyVector | keys_ |
| The keys involved in this factor. More... | |
Detailed Description
template<int M, int N1, int N2>
struct gtsam::BinaryJacobianFactor< M, N1, N2 >
A binary JacobianFactor specialization that uses fixed matrix math for speed
Definition at line 33 of file BinaryJacobianFactor.h.
Constructor & Destructor Documentation
◆ BinaryJacobianFactor()
template<int M, int N1, int N2>
|
inline |
Constructor.
Definition at line 36 of file BinaryJacobianFactor.h.
Member Function Documentation
◆ key1()
template<int M, int N1, int N2>
|
inline |
Definition at line 43 of file BinaryJacobianFactor.h.
◆ key2()
template<int M, int N1, int N2>
|
inline |
Definition at line 46 of file BinaryJacobianFactor.h.
◆ updateHessian()
template<int M, int N1, int N2>
|
inlineoverridevirtual |
Update an information matrix by adding the information corresponding to this factor (used internally during elimination).
- Parameters
-
scatter A mapping from variable index to slot index in this HessianFactor info The information matrix to be updated
Implements gtsam::GaussianFactor.
Definition at line 51 of file BinaryJacobianFactor.h.
The documentation for this struct was generated from the following file: