Public Types | Public Member Functions | Protected Attributes | List of all members
gtsam::LinearizedGaussianFactor Class Reference

#include <LinearizedFactor.h>

Inheritance diagram for gtsam::LinearizedGaussianFactor:
Inheritance graph
[legend]

Public Types

typedef NonlinearFactor Base
 
typedef std::shared_ptr< LinearizedGaussianFactorshared_ptr
 
typedef LinearizedGaussianFactor This
 
- 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...
 

Public Member Functions

const ValueslinearizationPoint () const
 
 LinearizedGaussianFactor ()=default
 
 LinearizedGaussianFactor (const GaussianFactor::shared_ptr &gaussian, const Values &lin_points)
 
 ~LinearizedGaussianFactor () override=default
 
- 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
 
virtual bool equals (const NonlinearFactor &f, double tol=1e-9) const
 
virtual double error (const Values &c) const
 
double error (const HybridValues &c) const override
 
virtual size_t dim () const =0
 
virtual bool active (const Values &) const
 
virtual std::shared_ptr< GaussianFactorlinearize (const Values &c) const =0
 
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 ()
 

Protected Attributes

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

Additional Inherited Members

- Protected Types inherited from gtsam::NonlinearFactor
typedef Factor Base
 
typedef NonlinearFactor This
 
- 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)
 

Detailed Description

A base factor class for the Jacobian and Hessian linearized factors

Definition at line 31 of file LinearizedFactor.h.

Member Typedef Documentation

◆ Base

base type

Definition at line 34 of file LinearizedFactor.h.

◆ shared_ptr

shared pointer for convenience

Definition at line 38 of file LinearizedFactor.h.

◆ This

Definition at line 35 of file LinearizedFactor.h.

Constructor & Destructor Documentation

◆ LinearizedGaussianFactor() [1/2]

gtsam::LinearizedGaussianFactor::LinearizedGaussianFactor ( )
default

default constructor for serialization

◆ LinearizedGaussianFactor() [2/2]

gtsam::LinearizedGaussianFactor::LinearizedGaussianFactor ( const GaussianFactor::shared_ptr gaussian,
const Values lin_points 
)
Parameters
gaussianA jacobian or hessian factor
lin_pointsThe linearization points for, at least, the variables used by this factor

Definition at line 24 of file LinearizedFactor.cpp.

◆ ~LinearizedGaussianFactor()

gtsam::LinearizedGaussianFactor::~LinearizedGaussianFactor ( )
overridedefault

Member Function Documentation

◆ linearizationPoint()

const Values& gtsam::LinearizedGaussianFactor::linearizationPoint ( ) const
inline

Definition at line 59 of file LinearizedFactor.h.

Member Data Documentation

◆ lin_points_

Values gtsam::LinearizedGaussianFactor::lin_points_
protected

linearization points for error calculation

Definition at line 43 of file LinearizedFactor.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:22