Private Types | Private Attributes | List of all members
gtsam::FrobeniusBetweenFactor< Rot > Class Template Reference

#include <FrobeniusFactor.h>

Inheritance diagram for gtsam::FrobeniusBetweenFactor< Rot >:
Inheritance graph
[legend]

Public Member Functions

Constructor
 FrobeniusBetweenFactor (Key j1, Key j2, const Rot &R12, const SharedNoiseModel &model=nullptr)
 Construct from two keys and measured rotation. More...
 
Testable
void print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print with optional string More...
 
bool equals (const NonlinearFactor &expected, double tol=1e-9) const override
 assert equality up to a tolerance More...
 
NoiseModelFactorN methods
Vector evaluateError (const Rot &R1, const Rot &R2, OptionalMatrixType H1, OptionalMatrixType H2) const override
 Error is Frobenius norm between R1*R12 and R2. More...
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< Rot, Rot >
Key key () const
 
 ~NoiseModelFactorN () override
 
 NoiseModelFactorN ()
 Default Constructor for I/O. More...
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)
 
Vector unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override
 
virtual Vector evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0
 
Vector evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const
 
Vector evaluateError (const ValueTypes &... x) const
 
AreAllMatrixRefs< Vector, OptionalJacArgs... > evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
 
AreAllMatrixPtrs< Vector, OptionalJacArgs... > evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
 
Key key1 () const
 
Key key2 () const
 
Key key3 () const
 
Key key4 () const
 
Key key5 () const
 
Key key6 () const
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
 
size_t dim () const override
 
double error (const Values &c) const override
 
std::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 
const SharedNoiseModelnoiseModel () const
 access to the noise model More...
 
 NoiseModelFactor ()
 
template<typename CONTAINER >
 NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
 
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 clone () 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 KeyVectorkeys () 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...
 
KeyVectorkeys ()
 
iterator begin ()
 
iterator end ()
 

Private Types

enum  { Dim = Rot::VectorN2::RowsAtCompileTime }
 

Private Attributes

Rot R12_
 measured rotation between R1 and R2 More...
 
Eigen::Matrix< double, Rot::dimension, Rot::dimension > R2hat_H_R1_
 fixed derivative of R2hat wrpt R1 More...
 

Additional Inherited Members

- Public Types inherited from gtsam::NoiseModelFactorN< Rot, Rot >
enum  
 N is the number of variables (N-way factor) More...
 
using ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< Thisshared_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...
 
- Protected Types inherited from gtsam::NoiseModelFactorN< Rot, Rot >
using Base = NoiseModelFactor
 
using KeyType = Key
 
using MatrixTypeT = Matrix
 
using OptionalMatrixTypeT = Matrix *
 
using This = NoiseModelFactorN< ValueTypes... >
 
using IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type
 
using IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type
 
using ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type
 
using IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >
 
using AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix &>::value), Ret >
 
using IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix *>
 
using IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >
 
using AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value||IsNullpointer< Args >::value)), Ret >
 
- Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor Base
 
typedef NoiseModelFactor This
 
- Protected Types inherited from gtsam::NonlinearFactor
typedef Factor Base
 
typedef NonlinearFactor This
 
- 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)
 
- 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::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor. More...
 

Detailed Description

template<class Rot>
class gtsam::FrobeniusBetweenFactor< Rot >

FrobeniusBetweenFactor is a BetweenFactor that evaluates the Frobenius norm of the rotation error between measured and predicted (rather than the Logmap of the error). This factor is only defined for fixed-dimension types, and in fact only SO3 and SO4 really work, as we need SO<N>::AdjointMap.

Definition at line 110 of file FrobeniusFactor.h.

Member Enumeration Documentation

◆ anonymous enum

template<class Rot>
anonymous enum
private
Enumerator
Dim 

Definition at line 114 of file FrobeniusFactor.h.

Constructor & Destructor Documentation

◆ FrobeniusBetweenFactor()

template<class Rot>
gtsam::FrobeniusBetweenFactor< Rot >::FrobeniusBetweenFactor ( Key  j1,
Key  j2,
const Rot R12,
const SharedNoiseModel model = nullptr 
)
inline

Construct from two keys and measured rotation.

Definition at line 127 of file FrobeniusFactor.h.

Member Function Documentation

◆ equals()

template<class Rot>
bool gtsam::FrobeniusBetweenFactor< Rot >::equals ( const NonlinearFactor expected,
double  tol = 1e-9 
) const
inlineoverridevirtual

assert equality up to a tolerance

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 150 of file FrobeniusFactor.h.

◆ evaluateError()

template<class Rot>
Vector gtsam::FrobeniusBetweenFactor< Rot >::evaluateError ( const Rot R1,
const Rot R2,
OptionalMatrixType  H1,
OptionalMatrixType  H2 
) const
inlineoverride

Error is Frobenius norm between R1*R12 and R2.

Definition at line 162 of file FrobeniusFactor.h.

◆ print()

template<class Rot>
void gtsam::FrobeniusBetweenFactor< Rot >::print ( const std::string &  s,
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
inlineoverridevirtual

print with optional string

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 140 of file FrobeniusFactor.h.

Member Data Documentation

◆ R12_

template<class Rot>
Rot gtsam::FrobeniusBetweenFactor< Rot >::R12_
private

measured rotation between R1 and R2

Definition at line 111 of file FrobeniusFactor.h.

◆ R2hat_H_R1_

template<class Rot>
Eigen::Matrix<double, Rot::dimension, Rot::dimension> gtsam::FrobeniusBetweenFactor< Rot >::R2hat_H_R1_
private

fixed derivative of R2hat wrpt R1

Definition at line 113 of file FrobeniusFactor.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:19