#include <NonlinearFactor.h>

Inheritance diagram for gtsam::NonlinearFactor:

[legend]

Public Types
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...

Protected Types
typedef Factor	Base

typedef NonlinearFactor	This

Standard Constructors
	NonlinearFactor ()

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

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

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

Standard Interface
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< GaussianFactor >	linearize (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

Additional Inherited Members
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 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::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Detailed Description

Nonlinear factor base class

This is the base class for all factor types, as well as conditionals, which are implemented as specialized factors. This class does not store any data other than its keys. Derived classes store data such as matrices and probability tables.

The error method is used to evaluate the factor, and is the only method that is required to be implemented in derived classes, although it has a default implementation that throws an exception.

There are five broad classes of factors that derive from Factor:

Nonlinear factors, such as NoiseModelFactor, which represent a nonlinear likelihood function over a set of variables.
Gaussian factors, such as

Definition at line 68 of file NonlinearFactor.h.

Member Typedef Documentation

◆ Base

typedef Factor gtsam::NonlinearFactor::Base

protected

Definition at line 73 of file NonlinearFactor.h.

◆ shared_ptr

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

Definition at line 78 of file NonlinearFactor.h.

◆ This

typedef NonlinearFactor gtsam::NonlinearFactor::This

protected

Definition at line 74 of file NonlinearFactor.h.

Constructor & Destructor Documentation

◆ NonlinearFactor() [1/2]

gtsam::NonlinearFactor::NonlinearFactor ( )

inline

Default constructor for I/O only

Definition at line 84 of file NonlinearFactor.h.

◆ NonlinearFactor() [2/2]

template<typename CONTAINER >

gtsam::NonlinearFactor::NonlinearFactor ( const CONTAINER & keys )

inline

Constructor from a collection of the keys involved in this factor

Definition at line 90 of file NonlinearFactor.h.

Member Function Documentation

◆ active()

virtual bool gtsam::NonlinearFactor::active ( const Values & ) const

inlinevirtual

Checks whether a factor should be used based on a set of values. This is primarily used to implement inequality constraints that require a variable active set. For all others, the default implementation returning true solves this problem.

In an inequality/bounding constraint, this active() returns true when the constraint is NOT fulfilled.

Returns: true if the constraint is active

Reimplemented in gtsam::BoundingConstraint2< VALUE1, VALUE2 >, gtsam::BoundingConstraint2< VALUE, VALUE >, gtsam::BoundingConstraint2< POSE, POINT >, gtsam::AntiFactor, and gtsam::BoundingConstraint1< VALUE >.

Definition at line 141 of file NonlinearFactor.h.

◆ clone()

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

inlinevirtual

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

By default, throws exception if subclass does not implement the function.

Reimplemented in TestNaryFactor, gtsam::EssentialMatrixFactor4< CALIBRATION >, gtsam::example::smallOptimize::UnaryFactor, gtsam::NonlinearEquality2< T >, gtsam::ImuFactor2, gtsam::EssentialMatrixFactor3, simulated2D::GenericMeasurement< POSE, LANDMARK >, gtsam::NonlinearEquality1< VALUE >, gtsam::CombinedImuFactor, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::ImuFactor, gtsam::LinearizedHessianFactor, gtsam::PendulumFactorPk1, simulated2D::GenericOdometry< VALUE >, gtsam::FunctorizedFactor2< R, T1, T2 >, gtsam::MagFactor3, gtsam::Pose3AttitudeFactor, gtsam::SmartRangeFactor, simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >, gtsam::NonlinearEquality< VALUE >, gtsam::AHRSFactor, gtsam::EssentialMatrixFactor2, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::ExpressionFactor< gtsam::Point3 >, simulated2D::GenericPrior< VALUE >, gtsam::MagFactor2, gtsam::PendulumFactorPk, gtsam::GPSFactor2, gtsam::ProjectionFactorRollingShutter, simulated2D::inequality_constraints::MaxDistanceConstraint< VALUE >, simulated2DOriented::GenericOdometry< VALUE >, gtsam::RangeFactorWithTransform< A1, A2, T >, gtsam::LinearContainerFactor, gtsam::LinearizedJacobianFactor, gtsam::Rot3AttitudeFactor, gtsam::MagFactor1, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::DiscreteEulerPoincareHelicopter, UnaryFactor, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::TriangulationFactor< CAMERA >, gtsam::RotateDirectionsFactor, gtsam::PendulumFactor2, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::FunctorizedFactor< R, T >, gtsam::PartialPriorFactor< VALUE >, gtsam::FunctorizedFactor< T, Matrix >, gtsam::FunctorizedFactor< Vector, Matrix >, gtsam::FunctorizedFactor< double, BASIS::Parameters >, gtsam::FunctorizedFactor< double, Vector >, gtsam::FunctorizedFactor< double, Matrix >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::MagPoseFactor< POSE >, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::BetweenFactor< VALUE >, gtsam::EssentialMatrixFactor, gtsam::VelocityConstraint, gtsam::PriorFactor< VALUE >, gtsam::GPSFactor, gtsam::PoseToPointFactor< POSE, POINT >, gtsam::BarometricFactor, gtsam::EssentialMatrixConstraint, gtsam::DummyFactor< CAMERA >, gtsam::PoseBetweenFactor< POSE >, gtsam::BearingRangeFactor< A1, A2, B, R >, simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >, gtsam::PosePriorFactor< POSE >, gtsam::MagFactor, gtsam::PoseTranslationPrior< POSE >, gtsam::PoseRotationPrior< POSE >, gtsam::FullIMUFactor< POSE >, gtsam::AntiFactor, gtsam::RangeFactor< A1, A2, T >, gtsam::IMUFactor< POSE >, gtsam::RelativeElevationFactor, gtsam::PendulumFactor1, gtsam::Reconstruction, gtsam::RotateFactor, and gtsam::VelocityConstraint3.

Definition at line 153 of file NonlinearFactor.h.

◆ dim()

virtual size_t gtsam::NonlinearFactor::dim ( ) const

pure virtual

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

Implemented in gtsam::BetweenFactorEM< VALUE >, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, NonlinearMeasurementModel, gtsam::LinearizedHessianFactor, gtsam::NoiseModelFactor, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, NonlinearMotionModel, gtsam::SmartFactorBase< CAMERA >, gtsam::SmartFactorBase< PinholePose< CALIBRATION > >, gtsam::SmartFactorBase< StereoCamera >, gtsam::SmartFactorBase< PinholeCamera< Cal3Bundler > >, gtsam::LinearizedJacobianFactor, gtsam::WhiteNoiseFactor, gtsam::ShonanGaugeFactor, gtsam::LinearContainerFactor, gtsam::AntiFactor, gtsam::KarcherMeanFactor< T >, and gtsam::DummyFactor< CAMERA >.

◆ equals()

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

virtual

Check if two factors are equal

Reimplemented in TestNaryFactor, gtsam::ImuFactor2, NonlinearMeasurementModel, gtsam::CombinedImuFactor, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::NoiseModelFactor, gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::FunctorizedFactor2< R, T1, T2 >, gtsam::ImuFactor, gtsam::LinearizedHessianFactor, gtsam::InvDepthFactorVariant3b, gtsam::Pose3AttitudeFactor, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::SmartFactorBase< CAMERA >, gtsam::SmartFactorBase< PinholePose< CALIBRATION > >, gtsam::SmartFactorBase< StereoCamera >, gtsam::SmartFactorBase< PinholeCamera< Cal3Bundler > >, gtsam::AHRSFactor, NonlinearMotionModel, gtsam::ProjectionFactorRollingShutter, gtsam::GPSFactor2, gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY >, gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS >, gtsam::FrobeniusBetweenFactor< Rot >, gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >, gtsam::SmartStereoProjectionFactorPP, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::LinearizedJacobianFactor, gtsam::Rot3AttitudeFactor, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::NonlinearEquality< VALUE >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::SmartStereoProjectionPoseFactor, gtsam::SmartStereoProjectionFactor, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::TriangulationFactor< CAMERA >, gtsam::SmartProjectionFactor< CAMERA >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::FunctorizedFactor< R, T >, gtsam::FunctorizedFactor< T, Matrix >, gtsam::FunctorizedFactor< Vector, Matrix >, gtsam::FunctorizedFactor< double, BASIS::Parameters >, gtsam::FunctorizedFactor< double, Vector >, gtsam::FunctorizedFactor< double, Matrix >, gtsam::SmartProjectionPoseFactor< CALIBRATION >, gtsam::MagPoseFactor< POSE >, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::PartialPriorFactor< VALUE >, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::BetweenFactor< VALUE >, gtsam::BetweenFactorEM< VALUE >, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::ExpressionFactor< gtsam::Point3 >, gtsam::PriorFactor< VALUE >, gtsam::SmartRangeFactor, gtsam::GaussMarkov1stOrderFactor< VALUE >, gtsam::PoseBetweenFactor< POSE >, gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >, gtsam::GPSFactor, gtsam::InvDepthFactorVariant2, gtsam::OrientedPlane3DirectionPrior, gtsam::PoseTranslationPrior< POSE >, gtsam::InvDepthFactorVariant3a, gtsam::BarometricFactor, gtsam::EssentialMatrixConstraint, gtsam::InvDepthFactorVariant1, gtsam::PosePriorFactor< POSE >, gtsam::BiasedGPSFactor, gtsam::ShonanFactor< d >, gtsam::PoseRotationPrior< POSE >, gtsam::LinearContainerFactor, gtsam::AntiFactor, gtsam::FullIMUFactor< POSE >, gtsam::PoseToPointFactor< POSE, POINT >, gtsam::RelativeElevationFactor, gtsam::IMUFactor< POSE >, and gtsam::DummyFactor< CAMERA >.

Definition at line 45 of file NonlinearFactor.cpp.

◆ error() [1/2]

double NonlinearFactor::error ( const Values & c ) const

virtual

Reimplemented in gtsam::SmartStereoProjectionFactor, gtsam::SmartProjectionFactor< CAMERA >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, NonlinearMeasurementModel, gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::NoiseModelFactor, gtsam::LinearizedHessianFactor, gtsam::SmartProjectionRigFactor< CAMERA >, NonlinearMotionModel, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::SmartStereoProjectionFactorPP, gtsam::LinearizedJacobianFactor, gtsam::NonlinearEquality< VALUE >, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::WhiteNoiseFactor, gtsam::SmartStereoProjectionPoseFactor, gtsam::SmartProjectionPoseFactor< CALIBRATION >, gtsam::BetweenFactorEM< VALUE >, gtsam::ShonanGaugeFactor, gtsam::StereoFactor, gtsam::LinearContainerFactor, gtsam::AntiFactor, gtsam::KarcherMeanFactor< T >, gtsam::DummyFactor< CAMERA >, and gtsam::PinholeFactor.

Definition at line 25 of file NonlinearFactor.cpp.

◆ error() [2/2]

double NonlinearFactor::error ( const HybridValues & c ) const

overridevirtual

All factor types need to implement an error function. In factor graphs, this is the negative log-likelihood.

Reimplemented from gtsam::Factor.

Definition at line 30 of file NonlinearFactor.cpp.

◆ linearize()

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

pure virtual

linearize to a GaussianFactor

Implemented in gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::SmartStereoProjectionFactor, NonlinearMeasurementModel, gtsam::SmartProjectionFactor< CAMERA >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::NoiseModelFactor, gtsam::SmartStereoProjectionFactorPP, gtsam::LinearizedHessianFactor, NonlinearMotionModel, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::NonlinearEquality< VALUE >, gtsam::WhiteNoiseFactor, gtsam::TriangulationFactor< CAMERA >, gtsam::LinearizedJacobianFactor, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::BetweenFactorEM< VALUE >, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::ExpressionFactor< gtsam::Point3 >, gtsam::LinearContainerFactor, gtsam::ShonanGaugeFactor, gtsam::AntiFactor, gtsam::StereoFactor, gtsam::KarcherMeanFactor< T >, gtsam::DummyFactor< CAMERA >, and gtsam::PinholeFactor.

◆ print()

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

overridevirtual

print

Reimplemented from gtsam::Factor.

Reimplemented in TestNaryFactor, gtsam::EssentialMatrixFactor4< CALIBRATION >, NonlinearMeasurementModel, gtsam::EssentialMatrixFactor3, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::NoiseModelFactor, gtsam::LinearizedHessianFactor, gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::InvDepthFactorVariant3b, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::SmartFactorBase< CAMERA >, gtsam::SmartFactorBase< PinholePose< CALIBRATION > >, gtsam::SmartFactorBase< StereoCamera >, gtsam::SmartFactorBase< PinholeCamera< Cal3Bundler > >, gtsam::EssentialMatrixFactor2, NonlinearMotionModel, gtsam::RangeFactorWithTransform< A1, A2, T >, gtsam::ProjectionFactorRollingShutter, gtsam::FrobeniusBetweenFactor< Rot >, gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS >, gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY >, gtsam::SmartStereoProjectionFactorPP, gtsam::LinearizedJacobianFactor, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >, gtsam::SmartStereoProjectionPoseFactor, gtsam::WhiteNoiseFactor, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::SmartStereoProjectionFactor, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::TriangulationFactor< CAMERA >, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::SmartProjectionPoseFactor< CALIBRATION >, gtsam::SmartProjectionFactor< CAMERA >, gtsam::FunctorizedFactor< T, Matrix >, gtsam::FunctorizedFactor< Vector, Matrix >, gtsam::FunctorizedFactor< double, BASIS::Parameters >, gtsam::FunctorizedFactor< double, Vector >, gtsam::FunctorizedFactor< double, Matrix >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::RotateDirectionsFactor, gtsam::VelocityConstraint, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::PartialPriorFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::BetweenFactor< VALUE >, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::BetweenFactorEM< VALUE >, gtsam::BearingRangeFactor< A1, A2, B, R >, gtsam::EssentialMatrixFactor, gtsam::PoseTranslationPrior< POSE >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::ExpressionFactor< gtsam::Point3 >, gtsam::SmartRangeFactor, gtsam::PriorFactor< VALUE >, gtsam::GaussMarkov1stOrderFactor< VALUE >, gtsam::RangeFactor< A1, A2, T >, gtsam::OrientedPlane3DirectionPrior, gtsam::EssentialMatrixConstraint, gtsam::PoseRotationPrior< POSE >, gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >, gtsam::InvDepthFactorVariant2, gtsam::InvDepthFactorVariant3a, gtsam::LocalOrientedPlane3Factor, gtsam::PoseBetweenFactor< POSE >, gtsam::InvDepthFactorVariant1, gtsam::FullIMUFactor< POSE >, gtsam::PosePriorFactor< POSE >, gtsam::ShonanFactor< d >, gtsam::RelativeElevationFactor, gtsam::IMUFactor< POSE >, gtsam::AntiFactor, gtsam::BiasedGPSFactor, gtsam::BearingFactor< A1, A2, T >, gtsam::PoseToPointFactor< POSE, POINT >, gtsam::RotateFactor, gtsam::OrientedPlane3Factor, and gtsam::DummyFactor< CAMERA >.

Definition at line 35 of file NonlinearFactor.cpp.

◆ rekey() [1/2]

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

virtual

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

Reimplemented in gtsam::LinearContainerFactor.

Definition at line 50 of file NonlinearFactor.cpp.

◆ rekey() [2/2]

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

virtual

Clones a factor and fully replaces its keys

Parameters

new_keys is the full replacement set of keys

Reimplemented in gtsam::LinearContainerFactor.

Definition at line 63 of file NonlinearFactor.cpp.

◆ sendable()

virtual bool gtsam::NonlinearFactor::sendable ( ) const

inlinevirtual

Should the factor be evaluated in the same thread as the caller This is to enable factors that has shared states (like the Python GIL lock)

Reimplemented in gtsam::CustomFactor.

Definition at line 176 of file NonlinearFactor.h.

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

Public Types

Protected Types

Standard Constructors

Testable

Standard Interface

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ NonlinearFactor() [1/2]

◆ NonlinearFactor() [2/2]

Member Function Documentation

◆ active()

◆ clone()

◆ dim()

◆ equals()

◆ error() [1/2]

◆ error() [2/2]

◆ linearize()

◆ print()

◆ rekey() [1/2]

◆ rekey() [2/2]

◆ sendable()