Public Member Functions | Private Types | List of all members
TestNaryFactor Class Reference
Inheritance diagram for TestNaryFactor:
Inheritance graph
[legend]

Public Member Functions

gtsam::NonlinearFactor::shared_ptr clone () const override
 
bool equals (const gtsam::NonlinearFactor &expected, double tol=1e-9) const override
 
gtsam::Expression< gtsam::Point3expression (const std::array< gtsam::Key, NARY_EXPRESSION_SIZE > &keys) const override
 
void print (const std::string &s, const gtsam::KeyFormatter &keyFormatter=gtsam::DefaultKeyFormatter) const override
 
 TestNaryFactor ()=default
 default constructor More...
 
 TestNaryFactor (gtsam::Key kR1, gtsam::Key kV1, gtsam::Key kR2, gtsam::Key kV2, const gtsam::SharedNoiseModel &model, const gtsam::Point3 &measured)
 
- Public Member Functions inherited from gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
virtual Expression< gtsam::Point3expression (const ArrayNKeys &keys) const
 
- Public Member Functions inherited from gtsam::ExpressionFactor< gtsam::Point3 >
gtsam::NonlinearFactor::shared_ptr clone () const override
 
bool equals (const NonlinearFactor &f, double tol) const override
 equals relies on Testable traits being defined for T More...
 
 ExpressionFactor (const SharedNoiseModel &noiseModel, const gtsam::Point3 &measurement, const Expression< gtsam::Point3 > &expression)
 
std::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 
const gtsam::Point3measured () const
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print relies on Testable traits being defined for T More...
 
Vector unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override
 
 ~ExpressionFactor () override
 Destructor. More...
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
 
size_t dim () const override
 
double error (const Values &c) const override
 
const SharedNoiseModelnoiseModel () const
 access to the noise model More...
 
 NoiseModelFactor ()
 
template<typename CONTAINER >
 NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
 
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 &) 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 KeyVectorkeys () 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...
 
KeyVectorkeys ()
 
iterator begin ()
 
iterator end ()
 

Private Types

using Base = gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
 
using This = TestNaryFactor
 

Additional Inherited Members

- Public Types inherited from gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
using ArrayNKeys = std::array< Key, NARY_EXPRESSION_SIZE >
 
- Public Types inherited from gtsam::ExpressionFactor< gtsam::Point3 >
typedef std::shared_ptr< ExpressionFactor< gtsam::Point3 > > shared_ptr
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< Thisshared_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...
 
- Static Public Attributes inherited from gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
static const std::size_t NARY_EXPRESSION_SIZE
 
- Protected Types inherited from gtsam::ExpressionFactor< gtsam::Point3 >
typedef ExpressionFactor< gtsam::Point3This
 
- 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 inherited from gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
 ExpressionFactorN ()=default
 Default constructor, for serialization. More...
 
 ExpressionFactorN (const ArrayNKeys &keys, const SharedNoiseModel &noiseModel, const gtsam::Point3 &measurement)
 Constructor takes care of keys, but still need to call initialize. More...
 
- Protected Member Functions inherited from gtsam::ExpressionFactor< gtsam::Point3 >
 ExpressionFactor ()
 
 ExpressionFactor (const SharedNoiseModel &noiseModel, const gtsam::Point3 &measurement)
 Default constructor, for serialization. More...
 
void initialize (const Expression< gtsam::Point3 > &expression)
 Initialize with constructor arguments. More...
 
- 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)
 
- 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::ExpressionFactor< gtsam::Point3 >
FastVector< intdims_
 dimensions of the Jacobian matrices More...
 
Expression< gtsam::Point3expression_
 the expression that is AD enabled More...
 
gtsam::Point3 measured_
 the measurement to be compared with the expression More...
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor. More...
 
- Static Protected Attributes inherited from gtsam::ExpressionFactor< gtsam::Point3 >
static const int Dim
 

Detailed Description

Definition at line 633 of file testExpressionFactor.cpp.

Member Typedef Documentation

◆ Base

Definition at line 641 of file testExpressionFactor.cpp.

◆ This

Definition at line 638 of file testExpressionFactor.cpp.

Constructor & Destructor Documentation

◆ TestNaryFactor() [1/2]

TestNaryFactor::TestNaryFactor ( )
default

default constructor

◆ TestNaryFactor() [2/2]

TestNaryFactor::TestNaryFactor ( gtsam::Key  kR1,
gtsam::Key  kV1,
gtsam::Key  kR2,
gtsam::Key  kV2,
const gtsam::SharedNoiseModel model,
const gtsam::Point3 measured 
)
inline

Definition at line 647 of file testExpressionFactor.cpp.

Member Function Documentation

◆ clone()

gtsam::NonlinearFactor::shared_ptr TestNaryFactor::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 654 of file testExpressionFactor.cpp.

◆ equals()

bool TestNaryFactor::equals ( const gtsam::NonlinearFactor expected,
double  tol = 1e-9 
) const
inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 683 of file testExpressionFactor.cpp.

◆ expression()

gtsam::Expression<gtsam::Point3> TestNaryFactor::expression ( const std::array< gtsam::Key, NARY_EXPRESSION_SIZE > &  keys) const
inlineoverride

Definition at line 660 of file testExpressionFactor.cpp.

◆ print()

void TestNaryFactor::print ( const std::string &  s,
const gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter 
) const
inlineoverridevirtual

print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 670 of file testExpressionFactor.cpp.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:41:08