#include <LinearContainerFactor.h>

Inheritance diagram for gtsam::LinearContainerFactor:

Public Types
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
NonlinearFactor::shared_ptr	clone () const override

size_t	dim () const override

bool	equals (const NonlinearFactor &f, double tol=1e-9) const override

double	error (const Values &c) const override

const GaussianFactor::shared_ptr &	factor () const

bool	hasLinearizationPoint () const
	Casting syntactic sugar. More...

bool	isHessian () const

bool	isJacobian () const

	LinearContainerFactor ()

	LinearContainerFactor (const JacobianFactor &factor, const Values &linearizationPoint=Values())

	LinearContainerFactor (const HessianFactor &factor, const Values &linearizationPoint=Values())

	LinearContainerFactor (const GaussianFactor::shared_ptr &factor, const Values &linearizationPoint=Values())

const std::optional< Values > &	linearizationPoint () const

GaussianFactor::shared_ptr	linearize (const Values &c) const override

GaussianFactor::shared_ptr	negateToGaussian () const

NonlinearFactor::shared_ptr	negateToNonlinear () const

void	print (const std::string &s="", const KeyFormatter &keyFormatter=gtsam::DefaultKeyFormatter) const override

NonlinearFactor::shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const override

NonlinearFactor::shared_ptr	rekey (const KeyVector &new_keys) const override

std::shared_ptr< HessianFactor >	toHessian () const

std::shared_ptr< JacobianFactor >	toJacobian () const

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()

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

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

double	error (const HybridValues &c) const override

virtual bool	active (const Values &) 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 Member Functions
static NonlinearFactorGraph	ConvertLinearGraph (const GaussianFactorGraph &linear_graph, const Values &linearizationPoint=Values())

Protected Types
typedef NonlinearFactor	Base

typedef LinearContainerFactor	This

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

Protected Member Functions
void	initializeLinearizationPoint (const Values &linearizationPoint)

	LinearContainerFactor (const GaussianFactor::shared_ptr &factor, const std::optional< Values > &linearizationPoint)

Protected Member Functions inherited from gtsam::Factor
	Factor ()

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

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

Protected Attributes
GaussianFactor::shared_ptr	factor_

std::optional< Values >	linearizationPoint_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Additional Inherited Members
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)

Detailed Description

Dummy version of a generic linear factor to be injected into a nonlinear factor graph

This factor does have the ability to perform relinearization under small-angle and linearity assumptions if a linearization point is added.

Definition at line 29 of file LinearContainerFactor.h.

Member Typedef Documentation

◆ Base

typedef NonlinearFactor gtsam::LinearContainerFactor::Base

protected

Definition at line 39 of file LinearContainerFactor.h.

◆ shared_ptr

typedef std::shared_ptr<This> gtsam::LinearContainerFactor::shared_ptr

Definition at line 44 of file LinearContainerFactor.h.

◆ This

typedef LinearContainerFactor gtsam::LinearContainerFactor::This

protected

Definition at line 40 of file LinearContainerFactor.h.

Constructor & Destructor Documentation

◆ LinearContainerFactor() [1/5]

gtsam::LinearContainerFactor::LinearContainerFactor	(	const GaussianFactor::shared_ptr &	factor,
		const std::optional< Values > &	linearizationPoint
	)

protected

direct copy constructor

Definition at line 29 of file LinearContainerFactor.cpp.

◆ LinearContainerFactor() [2/5]

gtsam::LinearContainerFactor::LinearContainerFactor ( )

inline

Default constructor - necessary for serialization

Definition at line 47 of file LinearContainerFactor.h.

◆ LinearContainerFactor() [3/5]

gtsam::LinearContainerFactor::LinearContainerFactor	(	const JacobianFactor &	factor,
		const Values &	linearizationPoint = `Values()`
	)

Primary constructor: store a linear factor with optional linearization point

Definition at line 35 of file LinearContainerFactor.cpp.

◆ LinearContainerFactor() [4/5]

gtsam::LinearContainerFactor::LinearContainerFactor	(	const HessianFactor &	factor,
		const Values &	linearizationPoint = `Values()`
	)

Primary constructor: store a linear factor with optional linearization point

Definition at line 42 of file LinearContainerFactor.cpp.

◆ LinearContainerFactor() [5/5]

gtsam::LinearContainerFactor::LinearContainerFactor	(	const GaussianFactor::shared_ptr &	factor,
		const Values &	linearizationPoint = `Values()`
	)

Constructor from shared_ptr

Definition at line 49 of file LinearContainerFactor.cpp.

Member Function Documentation

◆ clone()

NonlinearFactor::shared_ptr gtsam::LinearContainerFactor::clone ( ) const

inlineoverridevirtual

Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses

Clones the underlying linear factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 122 of file LinearContainerFactor.h.

◆ ConvertLinearGraph()

NonlinearFactorGraph gtsam::LinearContainerFactor::ConvertLinearGraph	(	const GaussianFactorGraph &	linear_graph,
		const Values &	linearizationPoint = `Values()`
	)

static

Utility function for converting linear graphs to nonlinear graphs consisting of LinearContainerFactors.

Definition at line 210 of file LinearContainerFactor.cpp.

◆ dim()

size_t gtsam::LinearContainerFactor::dim ( ) const

overridevirtual

get the dimension of the factor: rows of linear factor

Implements gtsam::NonlinearFactor.

Definition at line 96 of file LinearContainerFactor.cpp.

◆ equals()

bool gtsam::LinearContainerFactor::equals	(	const NonlinearFactor &	f,
		double	tol = `1e-9`
	)		const

overridevirtual

Check if two factors are equal

Reimplemented from gtsam::NonlinearFactor.

Definition at line 65 of file LinearContainerFactor.cpp.

◆ error()

double gtsam::LinearContainerFactor::error ( const Values & c ) const

overridevirtual

Calculate the nonlinear error for the factor, where the error is computed by passing the delta between linearization point and c, where delta = linearizationPoint_.localCoordinates(c), into the error function of the stored linear factor.

Returns: nonlinear error if linearizationPoint present, zero otherwise

Reimplemented from gtsam::NonlinearFactor.

Definition at line 77 of file LinearContainerFactor.cpp.

◆ factor()

const GaussianFactor::shared_ptr& gtsam::LinearContainerFactor::factor ( ) const

inline

Definition at line 60 of file LinearContainerFactor.h.

◆ hasLinearizationPoint()

bool gtsam::LinearContainerFactor::hasLinearizationPoint ( ) const

inline

Casting syntactic sugar.

Definition at line 141 of file LinearContainerFactor.h.

◆ initializeLinearizationPoint()

void gtsam::LinearContainerFactor::initializeLinearizationPoint ( const Values & linearizationPoint )

protected

Definition at line 17 of file LinearContainerFactor.cpp.

◆ isHessian()

bool gtsam::LinearContainerFactor::isHessian ( ) const

Definition at line 141 of file LinearContainerFactor.cpp.

◆ isJacobian()

bool gtsam::LinearContainerFactor::isJacobian ( ) const

Simple checks whether this is a Jacobian or Hessian factor

Definition at line 136 of file LinearContainerFactor.cpp.

◆ linearizationPoint()

const std::optional<Values>& gtsam::LinearContainerFactor::linearizationPoint ( ) const

inline

Extract the linearization point used in recalculating error

Definition at line 86 of file LinearContainerFactor.h.

◆ linearize()

GaussianFactor::shared_ptr gtsam::LinearContainerFactor::linearize ( const Values & c ) const

overridevirtual

Linearize to a GaussianFactor, with method depending on the presence of a linearizationPoint

With no linearization point, returns a cloned version of the stored linear factor.
With a linearization point provided, returns a relinearized version of the linearized factor.

The relinearization approach used computes a linear delta between the original linearization point and the new values c, where delta = linearizationPoint_.localCoordinates(c), and substitutes this change into the system. This substitution is only really valid for linear variable manifolds, and for any variables based on a non-commutative manifold (such as Pose2, Pose3), the relinearized version will be effective for only small angles.

TODO: better approximation of relinearization TODO: switchable modes for approximation technique

Implements gtsam::NonlinearFactor.

Definition at line 104 of file LinearContainerFactor.cpp.

◆ negateToGaussian()

GaussianFactor::shared_ptr gtsam::LinearContainerFactor::negateToGaussian ( ) const

Creates an anti-factor directly

Definition at line 156 of file LinearContainerFactor.cpp.

◆ negateToNonlinear()

NonlinearFactor::shared_ptr gtsam::LinearContainerFactor::negateToNonlinear ( ) const

Creates the equivalent anti-factor as another LinearContainerFactor.

Definition at line 162 of file LinearContainerFactor.cpp.

◆ print()

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

overridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 56 of file LinearContainerFactor.cpp.

◆ rekey() [1/2]

NonlinearFactor::shared_ptr gtsam::LinearContainerFactor::rekey ( const std::map< Key, Key > & rekey_mapping ) const

overridevirtual

Creates a shared_ptr clone of the factor with different keys using a map from old->new keys

Reimplemented from gtsam::NonlinearFactor.

Definition at line 168 of file LinearContainerFactor.cpp.

◆ rekey() [2/2]

NonlinearFactor::shared_ptr gtsam::LinearContainerFactor::rekey ( const KeyVector & new_keys ) const

overridevirtual

Clones a factor and fully replaces its keys

Parameters

new_keys is the full replacement set of keys

Reimplemented from gtsam::NonlinearFactor.

Definition at line 190 of file LinearContainerFactor.cpp.

◆ toHessian()

HessianFactor::shared_ptr gtsam::LinearContainerFactor::toHessian ( ) const

Casts to HessianFactor

Definition at line 151 of file LinearContainerFactor.cpp.

◆ toJacobian()

JacobianFactor::shared_ptr gtsam::LinearContainerFactor::toJacobian ( ) const

Casts to JacobianFactor

Definition at line 146 of file LinearContainerFactor.cpp.

Member Data Documentation

◆ factor_

GaussianFactor::shared_ptr gtsam::LinearContainerFactor::factor_

protected

Definition at line 32 of file LinearContainerFactor.h.

◆ linearizationPoint_

std::optional<Values> gtsam::LinearContainerFactor::linearizationPoint_

protected

Definition at line 33 of file LinearContainerFactor.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ LinearContainerFactor() [1/5]

◆ LinearContainerFactor() [2/5]

◆ LinearContainerFactor() [3/5]

◆ LinearContainerFactor() [4/5]

◆ LinearContainerFactor() [5/5]

Member Function Documentation

◆ clone()

◆ ConvertLinearGraph()

◆ dim()

◆ equals()

◆ error()

◆ factor()

◆ hasLinearizationPoint()

◆ initializeLinearizationPoint()

◆ isHessian()

◆ isJacobian()

◆ linearizationPoint()

◆ linearize()

◆ negateToGaussian()

◆ negateToNonlinear()

◆ print()

◆ rekey() [1/2]

◆ rekey() [2/2]

◆ toHessian()

◆ toJacobian()

Member Data Documentation

◆ factor_

◆ linearizationPoint_