#include <DummyFactor.h>
Inheritance diagram for gtsam::DummyFactor< CAMERA >:
Public Types | |
| typedef std::pair< Key, Matrix2D > | KeyMatrix2D |
| typedef Eigen::Matrix< double, 2, CAMERA::dimension > | Matrix2D |
 Public Types inherited from gtsam::RegularImplicitSchurFactor< CAMERA > | |
| typedef std::vector< Vector2, Eigen::aligned_allocator< Vector2 > > | Error2s |
| typedef std::shared_ptr< This > | shared_ptr |
| shared_ptr to this class More... | |
| typedef RegularImplicitSchurFactor | 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... | |
| Public Types inherited from gtsam::NonlinearFactor | |
| typedef std::shared_ptr< This > | shared_ptr |
Public Member Functions | |
| NonlinearFactor::shared_ptr | clone () const override |
| size_t | dim () const override |
| const std::vector< size_t > & | dims () const |
| DummyFactor () | |
| DummyFactor () | |
| DummyFactor (const std::vector< KeyMatrix2D > &Fblocks, const Matrix &E, const Matrix3 &P, const Vector &b) | |
| DummyFactor (const Key &key1, size_t dim1, const Key &key2, size_t dim2) | |
| bool | equals (const NonlinearFactor &f, double tol=1e-9) const override |
| double | error (const Values &c) const override |
| std::shared_ptr< GaussianFactor > | linearize (const Values &c) const override |
| void | multiplyHessian (double alpha, const VectorValues &x, VectorValues &y) const |
| Dummy version to measure overhead of key access. More... | |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| ~DummyFactor () override | |
| virtual | ~DummyFactor () |
| Public Member Functions inherited from gtsam::RegularImplicitSchurFactor< CAMERA > | |
| Matrix | augmentedInformation () const override |
| Compute full augmented information matrix More... | |
| Matrix | augmentedJacobian () const override |
| const Vector & | b () const |
| const Matrix & | E () const |
| bool | equals (const GaussianFactor &lf, double tol) const override |
| equals More... | |
| double | error (const VectorValues &x) const override |
| double | errorJF (const VectorValues &x) const |
| const FBlocks & | Fs () const |
| DenseIndex | getDim (const_iterator variable) const override |
| Degrees of freedom of camera. More... | |
| const Matrix & | getPointCovariance () const |
| Vector | gradient (Key key, const VectorValues &x) const override |
| Gradient wrt a key at any values. More... | |
| VectorValues | gradientAtZero () const override |
| void | gradientAtZero (double *d) const override |
| std::map< Key, Matrix > | hessianBlockDiagonal () const override |
| Return the block diagonal of the Hessian for this factor. More... | |
| void | hessianDiagonal (double *d) const override |
| add the contribution of this factor to the diagonal of the hessian d(output) = d(input) + deltaHessianFactor More... | |
| void | hessianDiagonalAdd (VectorValues &d) const override |
| Add the diagonal of the Hessian for this factor to existing VectorValues. More... | |
| Matrix | information () const override |
| Compute full information matrix More... | |
| std::pair< Matrix, Vector > | jacobian () const override |
| void | multiplyHessianAdd (double alpha, const double *x, double *y) const |
| double* Hessian-vector multiply, i.e. y += F'alpha(I - E*P*E')*F*x RAW memory access! Assumes keys start at 0 and go to M-1, and x and and y are laid out that way More... | |
| void | multiplyHessianAdd (double alpha, const double *x, double *y, std::vector< size_t > keys) const |
| void | multiplyHessianAdd (double alpha, const VectorValues &x, VectorValues &y) const override |
| Hessian-vector multiply, i.e. y += F'alpha(I - E*P*E')*F*x. More... | |
| void | multiplyHessianDummy (double alpha, const VectorValues &x, VectorValues &y) const |
| Dummy version to measure overhead of key access. More... | |
| GaussianFactor::shared_ptr | negate () const override |
| void | projectError (const Error2s &e1, Error2s &e2) const |
| Calculate corrected error Q*e = (I - E*P*E')*e. More... | |
| void | projectError2 (const Error2s &e1, Error2s &e2) const |
| Calculate corrected error Q*(e-ZDim*b) = (I - E*P*E')*(e-ZDim*b) More... | |
| RegularImplicitSchurFactor () | |
| Constructor. More... | |
| RegularImplicitSchurFactor (const KeyVector &keys, const FBlocks &Fs, const Matrix &E, const Matrix &P, const Vector &b) | |
| Construct from blocks of F, E, inv(E'*E), and RHS vector b. More... | |
| void | updateHessian (const KeyVector &keys, SymmetricBlockMatrix *info) const override |
| ~RegularImplicitSchurFactor () override | |
| Destructor. More... | |
| 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 () |
| 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 |
Protected Attributes | |
| std::vector< size_t > | dims_ |
| size_t | rowDim_ |
| choose dimension for the rows More... | |
| Protected Attributes inherited from gtsam::RegularImplicitSchurFactor< CAMERA > | |
| const Vector | b_ |
| 2m-dimensional RHS vector More... | |
| const Matrix | E_ |
| The 2m*3 E Jacobian with respect to the point. More... | |
| FBlocks | FBlocks_ |
| All ZDim*D F blocks (one for each camera) More... | |
| const Matrix | PointCovariance_ |
| the 3*3 matrix P = inv(E'E) (2*2 if degenerate) More... | |
| Protected Attributes inherited from gtsam::Factor | |
| KeyVector | keys_ |
| The keys involved in this factor. More... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from gtsam::RegularImplicitSchurFactor< CAMERA > | |
| static void | multiplyHessianAdd (const Matrix &F, const Matrix &E, const Matrix &PointCovariance, double alpha, const Vector &x, Vector &y) |
| Static Public Member Functions inherited from gtsam::GaussianFactor | |
| template<typename CONTAINER > | |
| static DenseIndex | Slot (const CONTAINER &keys, Key key) |
| Public Attributes inherited from gtsam::RegularImplicitSchurFactor< CAMERA > | |
| Error2s | e1 |
| Scratch space for multiplyHessianAdd. More... | |
| Error2s | e2 |
| Protected Types inherited from gtsam::RegularImplicitSchurFactor< CAMERA > | |
| typedef std::vector< MatrixZD, Eigen::aligned_allocator< MatrixZD > > | FBlocks |
| typedef Eigen::Matrix< double, D, D > | MatrixDD |
| camera Hessian More... | |
| typedef Eigen::Matrix< double, ZDim, D > | MatrixZD |
| type of an F block More... | |
| typedef CameraSet< CAMERA > | Set |
| typedef CAMERA::Measurement | Z |
| Protected Types inherited from gtsam::NonlinearFactor | |
| typedef Factor | Base |
| typedef NonlinearFactor | This |
| 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) |
| Static Protected Attributes inherited from gtsam::RegularImplicitSchurFactor< CAMERA > | |
| static const int | D = traits<CAMERA>::dimension |
| Camera dimension. More... | |
| static const int | ZDim = traits<Z>::dimension |
| Measurement dimension. More... | |
Detailed Description
template<typename CAMERA>
class gtsam::DummyFactor< CAMERA >
Definition at line 17 of file gtsam_unstable/slam/DummyFactor.h.
Member Typedef Documentation
◆ KeyMatrix2D
template<typename CAMERA >
| typedef std::pair<Key, Matrix2D> gtsam::DummyFactor< CAMERA >::KeyMatrix2D |
Definition at line 22 of file timing/DummyFactor.h.
◆ Matrix2D
template<typename CAMERA >
| typedef Eigen::Matrix<double, 2, CAMERA::dimension> gtsam::DummyFactor< CAMERA >::Matrix2D |
Definition at line 21 of file timing/DummyFactor.h.
Constructor & Destructor Documentation
◆ DummyFactor() [1/4]
template<typename CAMERA >
|
inline |
Default constructor: don't use directly
Definition at line 27 of file gtsam_unstable/slam/DummyFactor.h.
◆ DummyFactor() [2/4]
template<typename CAMERA >
| gtsam::DummyFactor< CAMERA >::DummyFactor | ( | const Key & | key1, |
| size_t | dim1, | ||
| const Key & | key2, | ||
| size_t | dim2 | ||
| ) |
standard binary constructor
Definition at line 13 of file DummyFactor.cpp.
◆ ~DummyFactor() [1/2]
template<typename CAMERA >
|
inlineoverride |
Definition at line 32 of file gtsam_unstable/slam/DummyFactor.h.
◆ DummyFactor() [3/4]
template<typename CAMERA >
|
inline |
Definition at line 24 of file timing/DummyFactor.h.
◆ DummyFactor() [4/4]
template<typename CAMERA >
|
inline |
Definition at line 27 of file timing/DummyFactor.h.
◆ ~DummyFactor() [2/2]
template<typename CAMERA >
|
inlinevirtual |
Definition at line 32 of file timing/DummyFactor.h.
Member Function Documentation
◆ clone()
template<typename CAMERA >
|
inlineoverridevirtual |
Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses
By default, throws exception if subclass does not implement the function.
Reimplemented from gtsam::NonlinearFactor.
Definition at line 65 of file gtsam_unstable/slam/DummyFactor.h.
◆ dim()
template<typename CAMERA >
|
inlineoverridevirtual |
get the dimension of the factor (number of rows on linearization)
Implements gtsam::NonlinearFactor.
Definition at line 54 of file gtsam_unstable/slam/DummyFactor.h.
◆ dims()
template<typename CAMERA >
|
inline |
Definition at line 44 of file gtsam_unstable/slam/DummyFactor.h.
◆ equals()
template<typename CAMERA >
|
overridevirtual |
Check if two factors are equal
Reimplemented from gtsam::NonlinearFactor.
Definition at line 32 of file DummyFactor.cpp.
◆ error()
template<typename CAMERA >
|
inlineoverridevirtual |
Calculate the error of the factor - zero for dummy factors
Reimplemented from gtsam::NonlinearFactor.
Definition at line 51 of file gtsam_unstable/slam/DummyFactor.h.
◆ linearize()
template<typename CAMERA >
|
overridevirtual |
linearize to a GaussianFactor
Implements gtsam::NonlinearFactor.
Definition at line 39 of file DummyFactor.cpp.
◆ multiplyHessian()
template<typename CAMERA >
|
inline |
Dummy version to measure overhead of key access.
Definition at line 40 of file timing/DummyFactor.h.
◆ print()
template<typename CAMERA >
|
overridevirtual |
Member Data Documentation
◆ dims_
template<typename CAMERA >
|
protected |
Definition at line 21 of file gtsam_unstable/slam/DummyFactor.h.
◆ rowDim_
template<typename CAMERA >
|
protected |
choose dimension for the rows
Definition at line 22 of file gtsam_unstable/slam/DummyFactor.h.
The documentation for this class was generated from the following files: