21 #include <gtsam_unstable/dllexport.h> 38 typedef std::shared_ptr<LinearizedGaussianFactor>
shared_ptr;
62 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION 64 friend class boost::serialization::access;
65 template<
class ARCHIVE>
66 void serialize(ARCHIVE & ar,
const unsigned int ) {
67 ar & boost::serialization::make_nvp(
"LinearizedGaussianFactor",
68 boost::serialization::base_object<Base>(*
this));
69 ar & BOOST_SERIALIZATION_NVP(lin_points_);
87 typedef std::shared_ptr<LinearizedJacobianFactor>
shared_ptr;
130 const constBVector
b()
const {
return Ab_(
size()).col(0); }
132 const constABlock
A(
Key key)
const {
return Ab_(std::find(begin(),
end(), key) - begin()); }
135 size_t dim()
const override {
return Ab_.
rows(); }
145 std::shared_ptr<GaussianFactor> linearize(
const Values& c)
const override;
151 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION 152 friend class boost::serialization::access;
154 template<
class ARCHIVE>
155 void serialize(ARCHIVE & ar,
const unsigned int ) {
156 ar & boost::serialization::make_nvp(
"LinearizedJacobianFactor",
157 boost::serialization::base_object<Base>(*
this));
158 ar & BOOST_SERIALIZATION_NVP(Ab_);
256 return info_.
block(J1, J2);
268 size_t dim()
const override {
return info_.
rows() - 1; }
278 std::shared_ptr<GaussianFactor> linearize(
const Values& c)
const override;
282 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION 283 friend class boost::serialization::access;
284 template<
class ARCHIVE>
285 void serialize(ARCHIVE & ar,
const unsigned int ) {
286 ar & boost::serialization::make_nvp(
"LinearizedHessianFactor",
287 boost::serialization::base_object<Base>(*
this));
288 ar & BOOST_SERIALIZATION_NVP(info_);
void print(const Matrix &A, const string &s, ostream &stream)
LinearizedHessianFactor This
const gtsam::Symbol key('X', 0)
LinearizedJacobianFactor This
m m block(1, 0, 2, 2)<< 4
const Block< const Derived, internal::traits< Derived >::RowsAtCompileTime, 1, !IsRowMajor > ConstColXpr
std::shared_ptr< This > shared_ptr
A shared_ptr to this class.
std::string serialize(const T &input)
serializes to a string
constBlock aboveDiagonalRange(DenseIndex i_startBlock, DenseIndex i_endBlock, DenseIndex j_startBlock, DenseIndex j_endBlock) const
Get a range [i,j) from the matrix. Indices are in block units.
VerticalBlockMatrix::Block ABlock
VerticalBlockMatrix::constBlock::ConstColXpr constBVector
DenseIndex rows() const
Row size.
Block< Derived, internal::traits< Derived >::RowsAtCompileTime, 1, !IsRowMajor > ColXpr
constColumn linearTerm() const
size_t dim() const override
static const KeyFormatter DefaultKeyFormatter
ptrdiff_t DenseIndex
The index type for Eigen objects.
constColumn linearTerm(const_iterator j) const
const constABlock A(Key key) const
LinearizedGaussianFactor Base
std::shared_ptr< LinearizedJacobianFactor > shared_ptr
SymmetricBlockMatrix::Block::ColXpr Column
A column containing the linear term h.
Eigen::SelfAdjointView< constBlock, Eigen::Upper > selfadjointView(DenseIndex I, DenseIndex J) const
Return the square sub-matrix that contains blocks(i:j, i:j).
gtsam::NonlinearFactor::shared_ptr clone() const override
DenseIndex rows() const
Row size.
std::shared_ptr< LinearizedGaussianFactor > shared_ptr
size_t dim() const override
VerticalBlockMatrix::Block::ColXpr BVector
const constBVector b() const
Contains the HessianFactor class, a general quadratic factor.
Array< double, 1, 3 > e(1./3., 0.5, 2.)
Expression of a selfadjoint matrix from a triangular part of a dense matrix.
Matrix squaredTerm(const_iterator j1, const_iterator j2) const
const Values & linearizationPoint() const
std::shared_ptr< This > shared_ptr
shared_ptr to this class
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
std::shared_ptr< This > shared_ptr
shared_ptr to this class
Block range(DenseIndex startBlock, DenseIndex endBlock)
VerticalBlockMatrix::constBlock constABlock
~LinearizedJacobianFactor() override
const constABlock A() const
Non-linear factor base classes.
Expression of a fixed-size or dynamic-size block.
static EIGEN_DEPRECATED const end_t end
std::shared_ptr< This > shared_ptr
Eigen::SelfAdjointView< constBlock, Eigen::Upper > squaredTerm() const
double constantTerm() const
~LinearizedHessianFactor() override
SymmetricBlockMatrix::Block Block
A block from the Hessian matrix.
SymmetricBlockMatrix::constBlock::ColXpr constColumn
A column containing the linear term h (const version)
Eigen::SelfAdjointView< Block, Eigen::Upper > diagonalBlock(DenseIndex J)
Return the J'th diagonal block as a self adjoint view.
KeyVector::const_iterator const_iterator
Const iterator over keys.
SymmetricBlockMatrix::constBlock constBlock
A block from the Hessian matrix (const version)
std::shared_ptr< LinearizedHessianFactor > shared_ptr
SymmetricBlockMatrix info_
std::uint64_t Key
Integer nonlinear key type.
Matrix block(DenseIndex I, DenseIndex J) const
LinearizedGaussianFactor This
LinearizedGaussianFactor Base
gtsam::NonlinearFactor::shared_ptr clone() const override