#include <Factor.h>

Inheritance diagram for gtsam::Factor:

[legend]

Public Types
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys. More...

typedef KeyVector::iterator	iterator
	Iterator over keys. More...

Public Member Functions
virtual	~Factor ()=default
	Default destructor. More...

Standard Interface
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

virtual double	error (const HybridValues &c) const

size_t	size () const

Testable
virtual void	print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print More...

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...

Advanced Interface
KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Protected Attributes
KeyVector	keys_
	The keys involved in this factor. More...

Private Types
typedef std::shared_ptr< Factor >	shared_ptr
	A shared_ptr to this class. More...

typedef Factor	This
	This class. More...

Standard Constructors
	Factor ()

template<typename CONTAINER >
	Factor (const CONTAINER &keys)

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)

template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)

Detailed Description

Definition at line 69 of file Factor.h.

Member Typedef Documentation

◆ const_iterator

typedef KeyVector::const_iterator gtsam::Factor::const_iterator

Const iterator over keys.

Definition at line 82 of file Factor.h.

◆ iterator

typedef KeyVector::iterator gtsam::Factor::iterator

Iterator over keys.

Definition at line 79 of file Factor.h.

◆ shared_ptr

typedef std::shared_ptr<Factor> gtsam::Factor::shared_ptr

private

A shared_ptr to this class.

Definition at line 75 of file Factor.h.

◆ This

typedef Factor gtsam::Factor::This

private

This class.

Definition at line 74 of file Factor.h.

Constructor & Destructor Documentation

◆ Factor() [1/3]

gtsam::Factor::Factor ( )

inlineprotected

Default constructor for I/O

Definition at line 93 of file Factor.h.

◆ Factor() [2/3]

template<typename CONTAINER >

gtsam::Factor::Factor ( const CONTAINER & keys )

inlineexplicitprotected

Construct factor from container of keys. This constructor is used internally from derived factor constructors, either from a container of keys or from a boost::assign::list_of.

Definition at line 98 of file Factor.h.

◆ Factor() [3/3]

template<typename ITERATOR >

gtsam::Factor::Factor	(	ITERATOR	first,
		ITERATOR	last
	)

inlineprotected

Construct factor from iterator keys. This constructor may be used internally from derived factor constructors, although our code currently does not use this.

Definition at line 103 of file Factor.h.

◆ ~Factor()

virtual gtsam::Factor::~Factor ( )

virtualdefault

Default destructor.

Member Function Documentation

◆ back()

Key gtsam::Factor::back ( ) const

inline

Last key.

Definition at line 136 of file Factor.h.

◆ begin() [1/2]

const_iterator gtsam::Factor::begin ( ) const

inline

Iterator at beginning of involved variable keys

Definition at line 145 of file Factor.h.

◆ begin() [2/2]

iterator gtsam::Factor::begin ( )

inline

Iterator at beginning of involved variable keys

Definition at line 187 of file Factor.h.

◆ empty()

bool gtsam::Factor::empty ( ) const

inline

Whether the factor is empty (involves zero variables).

Definition at line 130 of file Factor.h.

◆ end() [1/2]

const_iterator gtsam::Factor::end ( ) const

inline

Iterator at end of involved variable keys

Definition at line 148 of file Factor.h.

◆ end() [2/2]

iterator gtsam::Factor::end ( )

inline

Iterator at end of involved variable keys

Definition at line 190 of file Factor.h.

◆ equals()

bool gtsam::Factor::equals	(	const This &	other,
		double	tol = `1e-9`
	)		const

check equality

Definition at line 42 of file Factor.cpp.

◆ error()

double gtsam::Factor::error ( const HybridValues & c ) const

virtual

All factor types need to implement an error function. In factor graphs, this is the negative log-likelihood.

Reimplemented in gtsam::TableFactor, gtsam::DecisionTreeFactor, gtsam::GaussianMixture, gtsam::HybridConditional, gtsam::MixtureFactor, gtsam::GaussianMixtureFactor, gtsam::SymbolicFactor, gtsam::NonlinearFactor, gtsam::DiscreteFactor, and gtsam::GaussianFactor.

Definition at line 47 of file Factor.cpp.

◆ find()

const_iterator gtsam::Factor::find ( Key key ) const

inline

find

Definition at line 139 of file Factor.h.

◆ FromIterators()

template<typename ITERATOR >

static Factor gtsam::Factor::FromIterators	(	ITERATOR	first,
		ITERATOR	last
	)

inlinestaticprotected

Construct factor from iterator keys. This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.

Definition at line 114 of file Factor.h.

◆ FromKeys()

template<typename CONTAINER >

static Factor gtsam::Factor::FromKeys ( const CONTAINER & keys )

inlinestaticprotected

Construct factor from container of keys. This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.

Definition at line 108 of file Factor.h.

◆ front()

Key gtsam::Factor::front ( ) const

inline

First key.

Definition at line 133 of file Factor.h.

◆ keys() [1/2]

const KeyVector& gtsam::Factor::keys ( ) const

inline

Access the factor's involved variable keys.

Definition at line 142 of file Factor.h.

◆ keys() [2/2]

KeyVector& gtsam::Factor::keys ( )

inline

Returns: keys involved in this factor

Definition at line 184 of file Factor.h.

◆ print()

void gtsam::Factor::print	(	const std::string &	s = `"Factor"`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

virtual

print

Reimplemented in TestNaryFactor, gtsam::EssentialMatrixFactor4< CALIBRATION >, gtsam::ImuFactor2, NonlinearMeasurementModel, gtsam::EssentialMatrixFactor3, gtsam::NonlinearEquality1< VALUE >, gtsam::CombinedImuFactor, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::NoiseModelFactor, gtsam::ImuFactor, gtsam::LinearizedHessianFactor, gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::FunctorizedFactor2< R, T1, T2 >, gtsam::Pose3AttitudeFactor, gtsam::InvDepthFactorVariant3b, gtsam::JacobianFactor, gtsam::HessianFactor, gtsam::MixtureFactor, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::SmartFactorBase< CAMERA >, gtsam::SmartFactorBase< PinholePose< CALIBRATION > >, gtsam::SmartFactorBase< StereoCamera >, gtsam::SmartFactorBase< PinholeCamera< Cal3Bundler > >, gtsam::AHRSFactor, gtsam::EssentialMatrixFactor2, gtsam::BayesTreeOrphanWrapper< HybridBayesTreeClique >, NonlinearMotionModel, gtsam::RangeFactorWithTransform< A1, A2, T >, gtsam::GPSFactor2, gtsam::TableFactor, gtsam::ProjectionFactorRollingShutter, gtsam::GaussianMixture, gtsam::FrobeniusBetweenFactor< Rot >, gtsam::DiscreteConditional, gtsam::HybridConditional, gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS >, gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY >, gtsam::SmartStereoProjectionFactorPP, gtsam::LinearizedJacobianFactor, gtsam::GaussianConditional, gtsam::Rot3AttitudeFactor, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >, gtsam::SmartStereoProjectionPoseFactor, gtsam::WhiteNoiseFactor, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::GaussianMixtureFactor, gtsam::NonlinearEquality< VALUE >, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::HybridFactor, gtsam::LinearInequality, gtsam::SmartStereoProjectionFactor, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::TriangulationFactor< CAMERA >, gtsam::SymbolicConditional, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::RegularImplicitSchurFactor< CAMERA >, gtsam::SmartProjectionPoseFactor< CALIBRATION >, gtsam::FunctorizedFactor< R, T >, gtsam::SmartProjectionFactor< CAMERA >, gtsam::FunctorizedFactor< T, Matrix >, gtsam::FunctorizedFactor< Vector, Matrix >, gtsam::FunctorizedFactor< double, BASIS::Parameters >, gtsam::FunctorizedFactor< double, Vector >, gtsam::FunctorizedFactor< double, Matrix >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::RotateDirectionsFactor, gtsam::NonlinearFactor, gtsam::VelocityConstraint, gtsam::LinearEquality, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::MagPoseFactor< POSE >, gtsam::LinearCost, gtsam::PartialPriorFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::DecisionTreeFactor, gtsam::SymbolicFactor, gtsam::BetweenFactor< VALUE >, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::BetweenFactorEM< VALUE >, gtsam::BearingRangeFactor< A1, A2, B, R >, gtsam::EssentialMatrixFactor, gtsam::PoseTranslationPrior< POSE >, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::ExpressionFactor< gtsam::Point3 >, gtsam::SmartRangeFactor, gtsam::CustomFactor, gtsam::PriorFactor< VALUE >, gtsam::DiscreteDistribution, gtsam::GPSFactor, gtsam::GaussMarkov1stOrderFactor< VALUE >, gtsam::RangeFactor< A1, A2, T >, gtsam::OrientedPlane3DirectionPrior, gtsam::EssentialMatrixConstraint, gtsam::PoseRotationPrior< POSE >, gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >, gtsam::BarometricFactor, gtsam::InvDepthFactorVariant2, gtsam::InvDepthFactorVariant3a, gtsam::LocalOrientedPlane3Factor, gtsam::PoseBetweenFactor< POSE >, gtsam::InvDepthFactorVariant1, gtsam::DiscreteFactor, gtsam::FullIMUFactor< POSE >, gtsam::PosePriorFactor< POSE >, gtsam::BinaryMeasurement< T >, gtsam::LinearContainerFactor, gtsam::ShonanFactor< d >, gtsam::RelativeElevationFactor, gtsam::IMUFactor< POSE >, gtsam::AntiFactor, gtsam::GaussianFactor, gtsam::BiasedGPSFactor, gtsam::GaussianDensity, gtsam::Domain, gtsam::DiscreteLookupTable, gtsam::BearingFactor< A1, A2, T >, gtsam::PoseToPointFactor< POSE, POINT >, gtsam::RotateFactor, gtsam::OrientedPlane3Factor, gtsam::SingleValue, gtsam::DummyFactor< CAMERA >, gtsam::AllDiff, and gtsam::BinaryAllDiff.

Definition at line 29 of file Factor.cpp.

◆ printKeys()

void gtsam::Factor::printKeys	(	const std::string &	s = `"Factor"`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

virtual

print only keys

Reimplemented in gtsam::SymbolicFactor.

Definition at line 35 of file Factor.cpp.

◆ size()

size_t gtsam::Factor::size ( ) const

inline

Returns: the number of variables involved in this factor

Definition at line 159 of file Factor.h.

Member Data Documentation

◆ keys_

KeyVector gtsam::Factor::keys_

protected

The keys involved in this factor.

Definition at line 87 of file Factor.h.

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

Public Types

Public Member Functions

Protected Attributes

Private Types

Standard Constructors

Detailed Description

Member Typedef Documentation

◆ const_iterator

◆ iterator

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ Factor() [1/3]

◆ Factor() [2/3]

◆ Factor() [3/3]

◆ ~Factor()

Member Function Documentation

◆ back()

◆ begin() [1/2]

◆ begin() [2/2]

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ equals()

◆ error()

◆ find()

◆ FromIterators()

◆ FromKeys()

◆ front()

◆ keys() [1/2]

◆ keys() [2/2]

◆ print()

◆ printKeys()

◆ size()

Member Data Documentation

◆ keys_