List of all members
gtsam::ExpressionFactorGraph Class Reference

#include <ExpressionFactorGraph.h>

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

Public Member Functions

Adding Factors
template<typename T >
void addExpressionFactor (const Expression< T > &h, const T &z, const SharedNoiseModel &R)
 
- Public Member Functions inherited from gtsam::NonlinearFactorGraph
 NonlinearFactorGraph ()
 
template<typename ITERATOR >
 NonlinearFactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)
 
template<class CONTAINER >
 NonlinearFactorGraph (const CONTAINER &factors)
 
template<class DERIVEDFACTOR >
 NonlinearFactorGraph (const FactorGraph< DERIVEDFACTOR > &graph)
 
void print (const std::string &str="NonlinearFactorGraph: ", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
void printErrors (const Values &values, const std::string &str="NonlinearFactorGraph: ", const KeyFormatter &keyFormatter=DefaultKeyFormatter, const std::function< bool(const Factor *, double, size_t)> &printCondition=[](const Factor *, double, size_t) {return true;}) const
 
bool equals (const NonlinearFactorGraph &other, double tol=1e-9) const
 
void dot (std::ostream &os, const Values &values, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const GraphvizFormatting &writer=GraphvizFormatting()) const
 Output to graphviz format, stream version, with Values/extra options. More...
 
std::string dot (const Values &values, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const GraphvizFormatting &writer=GraphvizFormatting()) const
 Output to graphviz format string, with Values/extra options. More...
 
void saveGraph (const std::string &filename, const Values &values, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const GraphvizFormatting &writer=GraphvizFormatting()) const
 output to file with graphviz format, with Values/extra options. More...
 
double error (const Values &values) const
 
double probPrime (const Values &values) const
 
std::shared_ptr< SymbolicFactorGraphsymbolic () const
 
Ordering orderingCOLAMD () const
 
Ordering orderingCOLAMDConstrained (const FastMap< Key, int > &constraints) const
 
std::shared_ptr< GaussianFactorGraphlinearize (const Values &linearizationPoint) const
 Linearize a nonlinear factor graph. More...
 
std::shared_ptr< HessianFactorlinearizeToHessianFactor (const Values &values, const Dampen &dampen=nullptr) const
 
std::shared_ptr< HessianFactorlinearizeToHessianFactor (const Values &values, const Ordering &ordering, const Dampen &dampen=nullptr) const
 
Values updateCholesky (const Values &values, const Dampen &dampen=nullptr) const
 
Values updateCholesky (const Values &values, const Ordering &ordering, const Dampen &dampen=nullptr) const
 
NonlinearFactorGraph clone () const
 Clone() performs a deep-copy of the graph, including all of the factors. More...
 
NonlinearFactorGraph rekey (const std::map< Key, Key > &rekey_mapping) const
 
template<typename T >
void addExpressionFactor (const SharedNoiseModel &R, const T &z, const Expression< T > &h)
 
template<typename T >
void addPrior (Key key, const T &prior, const SharedNoiseModel &model=nullptr)
 
template<typename T >
void addPrior (Key key, const T &prior, const Matrix &covariance)
 
- Public Member Functions inherited from gtsam::FactorGraph< NonlinearFactor >
 FactorGraph (std::initializer_list< std::shared_ptr< DERIVEDFACTOR >> sharedFactors)
 
virtual ~FactorGraph ()=default
 
void reserve (size_t size)
 
IsDerived< DERIVEDFACTOR > push_back (std::shared_ptr< DERIVEDFACTOR > factor)
 Add a factor directly using a shared_ptr. More...
 
IsDerived< DERIVEDFACTOR > push_back (const DERIVEDFACTOR &factor)
 
IsDerived< DERIVEDFACTOR > emplace_shared (Args &&... args)
 Emplace a shared pointer to factor of given type. More...
 
IsDerived< DERIVEDFACTOR > add (std::shared_ptr< DERIVEDFACTOR > factor)
 add is a synonym for push_back. More...
 
HasDerivedElementType< ITERATOR > push_back (ITERATOR firstFactor, ITERATOR lastFactor)
 
HasDerivedValueType< ITERATOR > push_back (ITERATOR firstFactor, ITERATOR lastFactor)
 Push back many factors with an iterator (factors are copied) More...
 
HasDerivedElementType< CONTAINER > push_back (const CONTAINER &container)
 
HasDerivedValueType< CONTAINER > push_back (const CONTAINER &container)
 Push back non-pointer objects in a container (factors are copied). More...
 
void add (const FACTOR_OR_CONTAINER &factorOrContainer)
 
std::enable_if< std::is_base_of< This, typename CLIQUE::FactorGraphType >::value >::type push_back (const BayesTree< CLIQUE > &bayesTree)
 
FactorIndices add_factors (const CONTAINER &factors, bool useEmptySlots=false)
 
bool equals (const This &fg, double tol=1e-9) const
 Check equality up to tolerance. More...
 
size_t size () const
 
bool empty () const
 
const sharedFactor at (size_t i) const
 
sharedFactorat (size_t i)
 
const sharedFactor operator[] (size_t i) const
 
sharedFactoroperator[] (size_t i)
 
const_iterator begin () const
 
const_iterator end () const
 
sharedFactor front () const
 
sharedFactor back () const
 
double error (const HybridValues &values) const
 
iterator begin ()
 
iterator end ()
 
virtual void resize (size_t size)
 
void remove (size_t i)
 
void replace (size_t index, sharedFactor factor)
 
iterator erase (iterator item)
 
iterator erase (iterator first, iterator last)
 
void dot (std::ostream &os, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
 Output to graphviz format, stream version. More...
 
std::string dot (const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
 Output to graphviz format string. More...
 
void saveGraph (const std::string &filename, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DotWriter &writer=DotWriter()) const
 output to file with graphviz format. More...
 
size_t nrFactors () const
 
KeySet keys () const
 
KeyVector keyVector () const
 
bool exists (size_t idx) const
 

Additional Inherited Members

- Public Types inherited from gtsam::NonlinearFactorGraph
typedef FactorGraph< NonlinearFactorBase
 
typedef std::shared_ptr< Thisshared_ptr
 
typedef NonlinearFactorGraph This
 
typedef std::function< void(const std::shared_ptr< HessianFactor > &hessianFactor)> Dampen
 typdef for dampen functions used below More...
 
- Public Types inherited from gtsam::FactorGraph< NonlinearFactor >
typedef FastVector< sharedFactor >::const_iterator const_iterator
 
typedef NonlinearFactor FactorType
 factor type More...
 
typedef FastVector< sharedFactor >::iterator iterator
 
typedef std::shared_ptr< NonlinearFactorsharedFactor
 Shared pointer to a factor. More...
 
typedef sharedFactor value_type
 
- Protected Member Functions inherited from gtsam::FactorGraph< NonlinearFactor >
bool isEqual (const FactorGraph &other) const
 Check exact equality of the factor pointers. Useful for derived ==. More...
 
 FactorGraph ()
 
 FactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)
 
 FactorGraph (const CONTAINER &factors)
 
- Protected Attributes inherited from gtsam::FactorGraph< NonlinearFactor >
FastVector< sharedFactorfactors_
 

Detailed Description

Factor graph that supports adding ExpressionFactors directly

Definition at line 29 of file ExpressionFactorGraph.h.

Member Function Documentation

◆ addExpressionFactor()

template<typename T >
void gtsam::ExpressionFactorGraph::addExpressionFactor ( const Expression< T > &  h,
const T z,
const SharedNoiseModel R 
)
inline

Directly add ExpressionFactor that implements |h(x)-z|^2_R

Parameters
hexpression that implements measurement function
zmeasurement
Rmodel

Definition at line 43 of file ExpressionFactorGraph.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:18