Public Member Functions | Protected Types | Protected Attributes | List of all members
gtsam::CustomFactor Class Reference

#include <CustomFactor.h>

Inheritance diagram for gtsam::CustomFactor:
Inheritance graph
[legend]

Public Member Functions

 CustomFactor ()=default
 
 CustomFactor (const SharedNoiseModel &noiseModel, const KeyVector &keys, const CustomErrorFunction &errorFunction)
 
void print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
bool sendable () const override
 
Vector unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
 
size_t dim () const override
 
bool equals (const NonlinearFactor &f, double tol=1e-9) const override
 
double error (const Values &c) const override
 
std::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 
const SharedNoiseModelnoiseModel () const
 access to the noise model More...
 
 NoiseModelFactor ()
 
template<typename CONTAINER >
 NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
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 clone () const
 
virtual shared_ptr rekey (const std::map< Key, Key > &rekey_mapping) const
 
virtual shared_ptr rekey (const KeyVector &new_keys) 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 ()
 

Protected Types

using Base = NoiseModelFactor
 
using This = CustomFactor
 
- 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 Attributes

CustomErrorFunction error_function_
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor. More...
 

Additional Inherited Members

- 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...
 
- 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)
 

Detailed Description

Definition at line 45 of file CustomFactor.h.

Member Typedef Documentation

◆ Base

Definition at line 51 of file CustomFactor.h.

◆ This

Definition at line 52 of file CustomFactor.h.

Constructor & Destructor Documentation

◆ CustomFactor() [1/2]

gtsam::CustomFactor::CustomFactor ( )
default

Default Constructor for I/O

◆ CustomFactor() [2/2]

gtsam::CustomFactor::CustomFactor ( const SharedNoiseModel noiseModel,
const KeyVector keys,
const CustomErrorFunction errorFunction 
)
inline

Constructor

Parameters
noiseModelshared pointer to noise model
keyskeys of the variables
errorFunctionthe error functional

Definition at line 67 of file CustomFactor.h.

Member Function Documentation

◆ print()

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

print

Reimplemented from gtsam::Factor.

Definition at line 59 of file CustomFactor.cpp.

◆ sendable()

bool gtsam::CustomFactor::sendable ( ) const
inlineoverridevirtual

Mark not sendable

Reimplemented from gtsam::NonlinearFactor.

Definition at line 85 of file CustomFactor.h.

◆ unwhitenedError()

Vector gtsam::CustomFactor::unwhitenedError ( const Values x,
OptionalMatrixVecType  H = nullptr 
) const
overridevirtual

Calls the errorFunction closure, which is a std::function object One can check if a derivative is needed in the errorFunction by checking the length of Jacobian array

Implements gtsam::NoiseModelFactor.

Definition at line 25 of file CustomFactor.cpp.

Member Data Documentation

◆ error_function_

CustomErrorFunction gtsam::CustomFactor::error_function_
protected

Definition at line 47 of file CustomFactor.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:16