#include <LinearizedFactor.h>

Inheritance diagram for gtsam::LinearizedJacobianFactor:

Public Types
typedef VerticalBlockMatrix::Block	ABlock

typedef LinearizedGaussianFactor	Base

typedef VerticalBlockMatrix::Block::ColXpr	BVector

typedef VerticalBlockMatrix::constBlock	constABlock

typedef VerticalBlockMatrix::constBlock::ConstColXpr	constBVector

typedef std::shared_ptr< LinearizedJacobianFactor >	shared_ptr

typedef LinearizedJacobianFactor	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
const constABlock	A () const

const constABlock	A (Key key) const

const constBVector	b () const

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

size_t	dim () const override

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

double	error (const Values &c) const override

Vector	error_vector (const Values &c) const

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

	LinearizedJacobianFactor ()

	LinearizedJacobianFactor (const JacobianFactor::shared_ptr &jacobian, const Values &lin_points)

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

	~LinearizedJacobianFactor () 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
VerticalBlockMatrix	Ab_

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, Jacobian factor and inserts it into a nonlinear graph.

Definition at line 79 of file LinearizedFactor.h.

Member Typedef Documentation

◆ ABlock

typedef VerticalBlockMatrix::Block gtsam::LinearizedJacobianFactor::ABlock

Definition at line 89 of file LinearizedFactor.h.

◆ Base

typedef LinearizedGaussianFactor gtsam::LinearizedJacobianFactor::Base

base type

Definition at line 83 of file LinearizedFactor.h.

◆ BVector

typedef VerticalBlockMatrix::Block::ColXpr gtsam::LinearizedJacobianFactor::BVector

Definition at line 91 of file LinearizedFactor.h.

◆ constABlock

typedef VerticalBlockMatrix::constBlock gtsam::LinearizedJacobianFactor::constABlock

Definition at line 90 of file LinearizedFactor.h.

◆ constBVector

typedef VerticalBlockMatrix::constBlock::ConstColXpr gtsam::LinearizedJacobianFactor::constBVector

Definition at line 92 of file LinearizedFactor.h.

◆ shared_ptr

typedef std::shared_ptr<LinearizedJacobianFactor> gtsam::LinearizedJacobianFactor::shared_ptr

shared pointer for convenience

Definition at line 87 of file LinearizedFactor.h.

◆ This

typedef LinearizedJacobianFactor gtsam::LinearizedJacobianFactor::This

Definition at line 84 of file LinearizedFactor.h.

Constructor & Destructor Documentation

◆ LinearizedJacobianFactor() [1/2]

gtsam::LinearizedJacobianFactor::LinearizedJacobianFactor ( )

default constructor for serialization

Definition at line 39 of file LinearizedFactor.cpp.

◆ LinearizedJacobianFactor() [2/2]

gtsam::LinearizedJacobianFactor::LinearizedJacobianFactor	(	const JacobianFactor::shared_ptr &	jacobian,
		const Values &	lin_points
	)

Parameters

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

Definition at line 43 of file LinearizedFactor.cpp.

◆ ~LinearizedJacobianFactor()

gtsam::LinearizedJacobianFactor::~LinearizedJacobianFactor ( )

inlineoverride

Definition at line 114 of file LinearizedFactor.h.

Member Function Documentation

◆ A() [1/2]

const constABlock gtsam::LinearizedJacobianFactor::A ( ) const

inline

Definition at line 131 of file LinearizedFactor.h.

◆ A() [2/2]

const constABlock gtsam::LinearizedJacobianFactor::A ( Key key ) const

inline

Definition at line 132 of file LinearizedFactor.h.

◆ b()

const constBVector gtsam::LinearizedJacobianFactor::b ( ) const

inline

Definition at line 130 of file LinearizedFactor.h.

◆ clone()

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 117 of file LinearizedFactor.h.

◆ dim()

size_t gtsam::LinearizedJacobianFactor::dim ( ) const

inlineoverridevirtual

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

Implements gtsam::NonlinearFactor.

Definition at line 135 of file LinearizedFactor.h.

◆ equals()

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

overridevirtual

equals function with optional tolerance

Reimplemented from gtsam::NonlinearFactor.

Definition at line 80 of file LinearizedFactor.cpp.

◆ error()

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

overridevirtual

Calculate the error of the factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 97 of file LinearizedFactor.cpp.

◆ error_vector()

Vector gtsam::LinearizedJacobianFactor::error_vector ( const Values & c ) const

(A*x-b)

Definition at line 119 of file LinearizedFactor.cpp.

◆ linearize()

std::shared_ptr< GaussianFactor > gtsam::LinearizedJacobianFactor::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 104 of file LinearizedFactor.cpp.

◆ print()

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

overridevirtual

print function

Reimplemented from gtsam::NonlinearFactor.

Definition at line 62 of file LinearizedFactor.cpp.

Member Data Documentation

◆ Ab_

VerticalBlockMatrix gtsam::LinearizedJacobianFactor::Ab_

protected

Definition at line 101 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

◆ ABlock

◆ Base

◆ BVector

◆ constABlock

◆ constBVector

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ LinearizedJacobianFactor() [1/2]

◆ LinearizedJacobianFactor() [2/2]

◆ ~LinearizedJacobianFactor()

Member Function Documentation

◆ A() [1/2]

◆ A() [2/2]

◆ b()

◆ clone()

◆ dim()

◆ equals()

◆ error()

◆ error_vector()

◆ linearize()

◆ print()

Member Data Documentation

◆ Ab_