Private Types | Private Member Functions | Private Attributes | List of all members
gtsam::ShonanFactor< d > Class Template Reference

#include <ShonanFactor.h>

Inheritance diagram for gtsam::ShonanFactor< d >:
Inheritance graph
[legend]

Public Member Functions

Constructor
 ShonanFactor (Key j1, Key j2, const Rot &R12, size_t p, const SharedNoiseModel &model=nullptr, const std::shared_ptr< Matrix > &G=nullptr)
 
Testable
void print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print with optional string More...
 
bool equals (const NonlinearFactor &expected, double tol=1e-9) const override
 assert equality up to a tolerance More...
 
NoiseModelFactorN methods
Vector evaluateError (const SOn &Q1, const SOn &Q2, OptionalMatrixType H1, OptionalMatrixType H2) const override
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< SOn, SOn >
Key key () const
 
 ~NoiseModelFactorN () override
 
 NoiseModelFactorN ()
 Default Constructor for I/O. More...
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)
 
Vector unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override
 
virtual Vector evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0
 
Vector evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const
 
Vector evaluateError (const ValueTypes &... x) const
 
AreAllMatrixRefs< Vector, OptionalJacArgs... > evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
 
AreAllMatrixPtrs< Vector, OptionalJacArgs... > evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
 
Key key1 () const
 
Key key2 () const
 
Key key3 () const
 
Key key4 () const
 
Key key5 () const
 
Key key6 () const
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
 
size_t dim () const override
 
double error (const Values &c) const override
 
std::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 
const SharedNoiseModelnoiseModel () const
 access to the noise model More...
 
 NoiseModelFactor ()
 
template<typename CONTAINER >
 NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
 
Vector unweightedWhitenedError (const Values &c) const
 
Vector unwhitenedError (const Values &x, std::vector< Matrix > &H) const
 
double weight (const Values &c) const
 
Vector whitenedError (const Values &c) const
 
 ~NoiseModelFactor () override
 
- 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 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 ()
 

Private Types

using Rot = typename std::conditional< d==2, Rot2, Rot3 >::type
 

Private Member Functions

void fillJacobians (const Matrix &M1, const Matrix &M2, OptionalMatrixType H1, OptionalMatrixType H2) const
 Calculate Jacobians if asked, Only implemented for d=2 and 3 in .cpp. More...
 

Private Attributes

std::shared_ptr< MatrixG_
 matrix of vectorized generators More...
 
Matrix M_
 measured rotation between R1 and R2 More...
 
size_t p_
 
size_t pp_
 dimensionality constants More...
 

Additional Inherited Members

- Public Types inherited from gtsam::NoiseModelFactorN< SOn, SOn >
enum  
 N is the number of variables (N-way factor) More...
 
using ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< Thisshared_ptr
 
- 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...
 
- Protected Types inherited from gtsam::NoiseModelFactorN< SOn, SOn >
using Base = NoiseModelFactor
 
using KeyType = Key
 
using MatrixTypeT = Matrix
 
using OptionalMatrixTypeT = Matrix *
 
using This = NoiseModelFactorN< ValueTypes... >
 
using IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type
 
using IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type
 
using ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type
 
using IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >
 
using AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix &>::value), Ret >
 
using IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix *>
 
using IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >
 
using AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value||IsNullpointer< Args >::value)), Ret >
 
- Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor Base
 
typedef NoiseModelFactor This
 
- Protected Types inherited from gtsam::NonlinearFactor
typedef Factor Base
 
typedef NonlinearFactor This
 
- Protected Member Functions inherited from gtsam::NoiseModelFactor
 NoiseModelFactor (const SharedNoiseModel &noiseModel)
 
- 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::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor. More...
 

Detailed Description

template<size_t d>
class gtsam::ShonanFactor< d >

ShonanFactor is a BetweenFactor that moves in SO(p), but will land on the SO(d) sub-manifold of SO(p) at the global minimum. It projects the SO(p) matrices down to a Stiefel manifold of p*d matrices.

Definition at line 36 of file ShonanFactor.h.

Member Typedef Documentation

◆ Rot

template<size_t d>
using gtsam::ShonanFactor< d >::Rot = typename std::conditional<d == 2, Rot2, Rot3>::type
private

Definition at line 42 of file ShonanFactor.h.

Constructor & Destructor Documentation

◆ ShonanFactor()

template<size_t d>
gtsam::ShonanFactor< d >::ShonanFactor ( Key  j1,
Key  j2,
const Rot R12,
size_t  p,
const SharedNoiseModel model = nullptr,
const std::shared_ptr< Matrix > &  G = nullptr 
)

Constructor. Note we convert to d*p-dimensional noise model. To save memory and mallocs, pass in the vectorized Lie algebra generators: G = std::make_shared<Matrix>(SOn::VectorizedGenerators(p));

Definition at line 35 of file ShonanFactor.cpp.

Member Function Documentation

◆ equals()

template<size_t d>
bool gtsam::ShonanFactor< d >::equals ( const NonlinearFactor expected,
double  tol = 1e-9 
) const
overridevirtual

assert equality up to a tolerance

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 68 of file ShonanFactor.cpp.

◆ evaluateError()

template<size_t d>
Vector gtsam::ShonanFactor< d >::evaluateError ( const SOn Q1,
const SOn Q2,
OptionalMatrixType  H1,
OptionalMatrixType  H2 
) const
override

Error is Frobenius norm between Q1*P*R12 and Q2*P, where P=[I_3x3;0] projects down from SO(p) to the Stiefel manifold of px3 matrices.

Definition at line 108 of file ShonanFactor.cpp.

◆ fillJacobians()

template<size_t d>
void gtsam::ShonanFactor< d >::fillJacobians ( const Matrix M1,
const Matrix M2,
OptionalMatrixType  H1,
OptionalMatrixType  H2 
) const
private

Calculate Jacobians if asked, Only implemented for d=2 and 3 in .cpp.

Definition at line 77 of file ShonanFactor.cpp.

◆ print()

template<size_t d>
void gtsam::ShonanFactor< d >::print ( const std::string &  s,
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
overridevirtual

print with optional string

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 58 of file ShonanFactor.cpp.

Member Data Documentation

◆ G_

template<size_t d>
std::shared_ptr<Matrix> gtsam::ShonanFactor< d >::G_
private

matrix of vectorized generators

Definition at line 39 of file ShonanFactor.h.

◆ M_

template<size_t d>
Matrix gtsam::ShonanFactor< d >::M_
private

measured rotation between R1 and R2

Definition at line 37 of file ShonanFactor.h.

◆ p_

template<size_t d>
size_t gtsam::ShonanFactor< d >::p_
private

Definition at line 38 of file ShonanFactor.h.

◆ pp_

template<size_t d>
size_t gtsam::ShonanFactor< d >::pp_
private

dimensionality constants

Definition at line 38 of file ShonanFactor.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:09