#include <ExpressionFactorGraph.h>
Inheritance diagram for gtsam::ExpressionFactorGraph:
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< SymbolicFactorGraph > | symbolic () const |
| Ordering | orderingCOLAMD () const |
| Ordering | orderingCOLAMDConstrained (const FastMap< Key, int > &constraints) const |
| std::shared_ptr< GaussianFactorGraph > | linearize (const Values &linearizationPoint) const |
| Linearize a nonlinear factor graph. More... | |
| std::shared_ptr< HessianFactor > | linearizeToHessianFactor (const Values &values, const Dampen &dampen=nullptr) const |
| std::shared_ptr< HessianFactor > | linearizeToHessianFactor (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 |
| sharedFactor & | at (size_t i) |
| const sharedFactor | operator[] (size_t i) const |
| sharedFactor & | operator[] (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< NonlinearFactor > | Base |
| typedef std::shared_ptr< This > | shared_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< NonlinearFactor > | sharedFactor |
| 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< sharedFactor > | factors_ |
Detailed Description
Factor graph that supports adding ExpressionFactors directly
Definition at line 29 of file ExpressionFactorGraph.h.
Member Function Documentation
◆ addExpressionFactor()
template<typename T >
|
inline |
Directly add ExpressionFactor that implements |h(x)-z|^2_R
- Parameters
-
h expression that implements measurement function z measurement R model
Definition at line 43 of file ExpressionFactorGraph.h.
The documentation for this class was generated from the following file: