#include <ExpressionFactor.h>
Inheritance diagram for gtsam::ExpressionFactorN< T, Args >:
Public Types | |
| using | ArrayNKeys = std::array< Key, NARY_EXPRESSION_SIZE > |
 Public Types inherited from gtsam::ExpressionFactor< T > | |
| typedef std::shared_ptr< ExpressionFactor< T > > | shared_ptr |
| Public Types inherited from gtsam::NoiseModelFactor | |
| typedef std::shared_ptr< This > | shared_ptr |
| Public Types inherited from gtsam::NonlinearFactor | |
| typedef std::shared_ptr< This > | shared_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... | |
Public Member Functions | |
| virtual Expression< T > | expression (const ArrayNKeys &keys) const |
| Public Member Functions inherited from gtsam::ExpressionFactor< T > | |
| 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 T &measurement, const Expression< T > &expression) | |
| std::shared_ptr< GaussianFactor > | linearize (const Values &x) const override |
| const T & | measured () 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 |
| 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 &x) const override |
| const SharedNoiseModel & | noiseModel () 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 | 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 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 () |
Static Public Attributes | |
| static const std::size_t | NARY_EXPRESSION_SIZE = sizeof...(Args) |
Protected Member Functions | |
| ExpressionFactorN ()=default | |
| Default constructor, for serialization. More... | |
| ExpressionFactorN (const ArrayNKeys &keys, const SharedNoiseModel &noiseModel, const T &measurement) | |
| Constructor takes care of keys, but still need to call initialize. More... | |
| Protected Member Functions inherited from gtsam::ExpressionFactor< T > | |
| ExpressionFactor () | |
| ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement) | |
| Default constructor, for serialization. More... | |
| void | initialize (const Expression< T > &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) | |
Private Member Functions | |
| Expression< T > | expression () const override |
| Return an expression that predicts the measurement given Values. More... | |
Additional Inherited Members | |
| Protected Types inherited from gtsam::ExpressionFactor< T > | |
| typedef ExpressionFactor< T > | This |
| Protected Types inherited from gtsam::NoiseModelFactor | |
| typedef NonlinearFactor | Base |
| typedef NoiseModelFactor | This |
| Protected Types inherited from gtsam::NonlinearFactor | |
| typedef Factor | Base |
| typedef NonlinearFactor | This |
| 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< T > | |
| FastVector< int > | dims_ |
| dimensions of the Jacobian matrices More... | |
| Expression< T > | expression_ |
| the expression that is AD enabled More... | |
| T | 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< T > | |
| static const int | Dim = traits<T>::dimension |
Detailed Description
template<typename T, typename... Args>
class gtsam::ExpressionFactorN< T, Args >
N-ary variadic template for ExpressionFactor meant as a base class for N-ary factors. Enforces an 'expression' method with N keys. Derived class (an N-factor!) needs to call 'initialize'.
Does not provide backward compatible 'evaluateError'.
- Template Parameters
-
T Type for measurements. The rest of template arguments are types for the N key-indexed Values.
Definition at line 249 of file ExpressionFactor.h.
Member Typedef Documentation
◆ ArrayNKeys
template<typename T, typename... Args>
| using gtsam::ExpressionFactorN< T, Args >::ArrayNKeys = std::array<Key, NARY_EXPRESSION_SIZE> |
Definition at line 252 of file ExpressionFactor.h.
Constructor & Destructor Documentation
◆ ExpressionFactorN() [1/2]
template<typename T, typename... Args>
|
protecteddefault |
Default constructor, for serialization.
◆ ExpressionFactorN() [2/2]
template<typename T, typename... Args>
|
inlineprotected |
Constructor takes care of keys, but still need to call initialize.
Definition at line 273 of file ExpressionFactor.h.
Member Function Documentation
◆ expression() [1/2]
template<typename T, typename... Args>
|
inlinevirtual |
Recreate expression from given keys_ and measured_, used in load Needed to deserialize a derived factor
Definition at line 263 of file ExpressionFactor.h.
◆ expression() [2/2]
template<typename T, typename... Args>
|
inlineoverrideprivatevirtual |
Return an expression that predicts the measurement given Values.
Reimplemented from gtsam::ExpressionFactor< T >.
Definition at line 282 of file ExpressionFactor.h.
Member Data Documentation
◆ NARY_EXPRESSION_SIZE
template<typename T, typename... Args>
|
static |
Definition at line 251 of file ExpressionFactor.h.
The documentation for this class was generated from the following file: