#include <LinearizedFactor.h>

Inheritance diagram for gtsam::LinearizedHessianFactor:

Public Types
typedef LinearizedGaussianFactor	Base

typedef SymmetricBlockMatrix::Block	Block
	A block from the Hessian matrix. More...

typedef SymmetricBlockMatrix::Block::ColXpr	Column
	A column containing the linear term h. More...

typedef SymmetricBlockMatrix::constBlock	constBlock
	A block from the Hessian matrix (const version) More...

typedef SymmetricBlockMatrix::constBlock::ColXpr	constColumn
	A column containing the linear term h (const version) More...

typedef std::shared_ptr< LinearizedHessianFactor >	shared_ptr

typedef LinearizedHessianFactor	This

Public Types inherited from gtsam::LinearizedGaussianFactor
typedef NonlinearFactor	Base

typedef std::shared_ptr< LinearizedGaussianFactor >	shared_ptr

typedef LinearizedGaussianFactor	This

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

double	constantTerm () const

size_t	dim () const override

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

double	error (const Values &c) const override

std::shared_ptr< GaussianFactor >	linearize (const Values &c) const override

	LinearizedHessianFactor ()

	LinearizedHessianFactor (const HessianFactor::shared_ptr &hessian, const Values &lin_points)

constColumn	linearTerm (const_iterator j) const

constColumn	linearTerm () const

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

Matrix	squaredTerm (const_iterator j1, const_iterator j2) const

Eigen::SelfAdjointView< constBlock, Eigen::Upper >	squaredTerm () const

	~LinearizedHessianFactor () override

Public Member Functions inherited from gtsam::LinearizedGaussianFactor
const Values &	linearizationPoint () 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)

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 ()

Protected Attributes
SymmetricBlockMatrix	info_

Protected Attributes inherited from gtsam::LinearizedGaussianFactor
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 factor that takes a linear, Hessian factor and inserts it into a nonlinear graph.

Definition at line 172 of file LinearizedFactor.h.

Member Typedef Documentation

◆ Base

typedef LinearizedGaussianFactor gtsam::LinearizedHessianFactor::Base

base type

Definition at line 176 of file LinearizedFactor.h.

◆ Block

typedef SymmetricBlockMatrix::Block gtsam::LinearizedHessianFactor::Block

A block from the Hessian matrix.

hessian block data types

Definition at line 183 of file LinearizedFactor.h.

◆ Column

typedef SymmetricBlockMatrix::Block::ColXpr gtsam::LinearizedHessianFactor::Column

A column containing the linear term h.

Definition at line 186 of file LinearizedFactor.h.

◆ constBlock

typedef SymmetricBlockMatrix::constBlock gtsam::LinearizedHessianFactor::constBlock

A block from the Hessian matrix (const version)

Definition at line 184 of file LinearizedFactor.h.

◆ constColumn

typedef SymmetricBlockMatrix::constBlock::ColXpr gtsam::LinearizedHessianFactor::constColumn

A column containing the linear term h (const version)

Definition at line 187 of file LinearizedFactor.h.

◆ shared_ptr

typedef std::shared_ptr<LinearizedHessianFactor> gtsam::LinearizedHessianFactor::shared_ptr

shared pointer for convenience

Definition at line 180 of file LinearizedFactor.h.

◆ This

typedef LinearizedHessianFactor gtsam::LinearizedHessianFactor::This

Definition at line 177 of file LinearizedFactor.h.

Constructor & Destructor Documentation

◆ LinearizedHessianFactor() [1/2]

gtsam::LinearizedHessianFactor::LinearizedHessianFactor ( )

default constructor for serialization

Definition at line 137 of file LinearizedFactor.cpp.

◆ LinearizedHessianFactor() [2/2]

gtsam::LinearizedHessianFactor::LinearizedHessianFactor	(	const HessianFactor::shared_ptr &	hessian,
		const Values &	lin_points
	)

Use this constructor with the ordering used to linearize the graph

Parameters

hessian	A hessian factor
lin_points	The linearization points for, at least, the variables used by this factor

Definition at line 141 of file LinearizedFactor.cpp.

◆ ~LinearizedHessianFactor()

gtsam::LinearizedHessianFactor::~LinearizedHessianFactor ( )

inlineoverride

Definition at line 206 of file LinearizedFactor.h.

Member Function Documentation

◆ clone()

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 209 of file LinearizedFactor.h.

◆ constantTerm()

double gtsam::LinearizedHessianFactor::constantTerm ( ) const

inline

Return the constant term $ f $ as described above

Returns: The constant term

Definition at line 224 of file LinearizedFactor.h.

◆ dim()

size_t gtsam::LinearizedHessianFactor::dim ( ) const

inlineoverridevirtual

get the dimension of the factor (number of rows on linearization)

Implements gtsam::NonlinearFactor.

Definition at line 268 of file LinearizedFactor.h.

◆ equals()

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

overridevirtual

equals function with optional tolerance

Reimplemented from gtsam::NonlinearFactor.

Definition at line 161 of file LinearizedFactor.cpp.

◆ error()

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

overridevirtual

Calculate the error of the factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 180 of file LinearizedFactor.cpp.

◆ linearize()

std::shared_ptr< GaussianFactor > gtsam::LinearizedHessianFactor::linearize ( const Values & c ) const

overridevirtual

linearize to a GaussianFactor Reimplemented from NoiseModelFactor to directly copy out the matrices and only update the RHS b with an updated residual

Implements gtsam::NonlinearFactor.

Definition at line 203 of file LinearizedFactor.cpp.

◆ linearTerm() [1/2]

constColumn gtsam::LinearizedHessianFactor::linearTerm ( const_iterator j ) const

inline

Return the part of linear term $ g $ as described above corresponding to the requested variable.

Parameters

j	Which block row to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor.

Returns: The linear term

Definition at line 233 of file LinearizedFactor.h.

◆ linearTerm() [2/2]

constColumn gtsam::LinearizedHessianFactor::linearTerm ( ) const

inline

Return the complete linear term $ g $ as described above.

Returns: The linear term

Definition at line 239 of file LinearizedFactor.h.

◆ print()

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

overridevirtual

print function

Reimplemented from gtsam::NonlinearFactor.

Definition at line 146 of file LinearizedFactor.cpp.

◆ squaredTerm() [1/2]

Matrix gtsam::LinearizedHessianFactor::squaredTerm	(	const_iterator	j1,
		const_iterator	j2
	)		const

inline

Return a copy of the block at (j1,j2) of the upper-triangular part of the squared term $ H $ , no data is copied. See HessianFactor class documentation above to explain that only the upper-triangular part of the information matrix is stored and returned by this function.

Parameters

j1	Which block row to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor.
j2	Which block column to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor.

Returns: A copy of the requested block.

Definition at line 253 of file LinearizedFactor.h.

◆ squaredTerm() [2/2]

Eigen::SelfAdjointView<constBlock, Eigen::Upper> gtsam::LinearizedHessianFactor::squaredTerm ( ) const

inline

Return the upper-triangular part of the full squared term, as described above. See HessianFactor class documentation above to explain that only the upper-triangular part of the information matrix is stored and returned by this function.

Definition at line 263 of file LinearizedFactor.h.

Member Data Documentation

◆ info_

SymmetricBlockMatrix gtsam::LinearizedHessianFactor::info_

protected

The block view of the full information matrix, s.t. the quadratic error is 0.5*[x -1]'H[x -1]

Definition at line 191 of file LinearizedFactor.h.

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

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ Block

◆ Column

◆ constBlock

◆ constColumn

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ LinearizedHessianFactor() [1/2]

◆ LinearizedHessianFactor() [2/2]

◆ ~LinearizedHessianFactor()

Member Function Documentation

◆ clone()

◆ constantTerm()

◆ dim()

◆ equals()

◆ error()

◆ linearize()

◆ linearTerm() [1/2]

◆ linearTerm() [2/2]

◆ print()

◆ squaredTerm() [1/2]

◆ squaredTerm() [2/2]

Member Data Documentation

◆ info_