Public Types | Public Member Functions | Public Attributes | List of all members
gtsam::BoundingConstraint2< VALUE1, VALUE2 > Struct Template Referenceabstract

#include <BoundingConstraint.h>

Inheritance diagram for gtsam::BoundingConstraint2< VALUE1, VALUE2 >:
Inheritance graph
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Public Types

typedef NoiseModelFactorN< VALUE1, VALUE2 > Base
 
typedef std::shared_ptr< BoundingConstraint2< VALUE1, VALUE2 > > shared_ptr
 
typedef VALUE1 X1
 
typedef VALUE2 X2
 
- Public Types inherited from gtsam::NoiseModelFactorN< VALUE1, VALUE2 >
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...
 

Public Member Functions

bool active (const Values &c) const override
 
 BoundingConstraint2 (Key key1, Key key2, double threshold, bool isGreaterThan, double mu=1000.0)
 flag for greater/less than More...
 
Vector evaluateError (const X1 &x1, const X2 &x2, OptionalMatrixType H1, OptionalMatrixType H2) const override
 
bool isGreaterThan () const
 
double threshold () const
 
virtual double value (const X1 &x1, const X2 &x2, OptionalMatrixType H1=OptionalNone, OptionalMatrixType H2=OptionalNone) const =0
 
 ~BoundingConstraint2 () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< VALUE1, VALUE2 >
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
 
bool equals (const NonlinearFactor &f, double tol=1e-9) 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)
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
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 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 ()
 

Public Attributes

bool isGreaterThan_
 
double threshold_
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactorN< VALUE1, VALUE2 >
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<class VALUE1, class VALUE2>
struct gtsam::BoundingConstraint2< VALUE1, VALUE2 >

Binary scalar inequality constraint, with a similar value() function to implement for specific systems

Definition at line 105 of file BoundingConstraint.h.

Member Typedef Documentation

◆ Base

template<class VALUE1, class VALUE2>
typedef NoiseModelFactorN<VALUE1, VALUE2> gtsam::BoundingConstraint2< VALUE1, VALUE2 >::Base

Definition at line 109 of file BoundingConstraint.h.

◆ shared_ptr

template<class VALUE1, class VALUE2>
typedef std::shared_ptr<BoundingConstraint2<VALUE1, VALUE2> > gtsam::BoundingConstraint2< VALUE1, VALUE2 >::shared_ptr

Definition at line 110 of file BoundingConstraint.h.

◆ X1

template<class VALUE1, class VALUE2>
typedef VALUE1 gtsam::BoundingConstraint2< VALUE1, VALUE2 >::X1

Definition at line 106 of file BoundingConstraint.h.

◆ X2

template<class VALUE1, class VALUE2>
typedef VALUE2 gtsam::BoundingConstraint2< VALUE1, VALUE2 >::X2

Definition at line 107 of file BoundingConstraint.h.

Constructor & Destructor Documentation

◆ BoundingConstraint2()

template<class VALUE1, class VALUE2>
gtsam::BoundingConstraint2< VALUE1, VALUE2 >::BoundingConstraint2 ( Key  key1,
Key  key2,
double  threshold,
bool  isGreaterThan,
double  mu = 1000.0 
)
inline

flag for greater/less than

Definition at line 118 of file BoundingConstraint.h.

◆ ~BoundingConstraint2()

template<class VALUE1, class VALUE2>
gtsam::BoundingConstraint2< VALUE1, VALUE2 >::~BoundingConstraint2 ( )
inlineoverride

Definition at line 123 of file BoundingConstraint.h.

Member Function Documentation

◆ active()

template<class VALUE1, class VALUE2>
bool gtsam::BoundingConstraint2< VALUE1, VALUE2 >::active ( const Values c) const
inlineoverridevirtual

active when constraint NOT met

Reimplemented from gtsam::NonlinearFactor.

Definition at line 137 of file BoundingConstraint.h.

◆ evaluateError()

template<class VALUE1, class VALUE2>
Vector gtsam::BoundingConstraint2< VALUE1, VALUE2 >::evaluateError ( const X1 x1,
const X2 x2,
OptionalMatrixType  H1,
OptionalMatrixType  H2 
) const
inlineoverride

Definition at line 143 of file BoundingConstraint.h.

◆ isGreaterThan()

template<class VALUE1, class VALUE2>
bool gtsam::BoundingConstraint2< VALUE1, VALUE2 >::isGreaterThan ( ) const
inline

Definition at line 126 of file BoundingConstraint.h.

◆ threshold()

template<class VALUE1, class VALUE2>
double gtsam::BoundingConstraint2< VALUE1, VALUE2 >::threshold ( ) const
inline

Definition at line 125 of file BoundingConstraint.h.

◆ value()

template<class VALUE1, class VALUE2>
virtual double gtsam::BoundingConstraint2< VALUE1, VALUE2 >::value ( const X1 x1,
const X2 x2,
OptionalMatrixType  H1 = OptionalNone,
OptionalMatrixType  H2 = OptionalNone 
) const
pure virtual

function producing a scalar value to compare to the threshold Must have optional argument for derivatives)

Implemented in simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >, and simulated2D::inequality_constraints::MaxDistanceConstraint< VALUE >.

Member Data Documentation

◆ isGreaterThan_

template<class VALUE1, class VALUE2>
bool gtsam::BoundingConstraint2< VALUE1, VALUE2 >::isGreaterThan_

Definition at line 116 of file BoundingConstraint.h.

◆ threshold_

template<class VALUE1, class VALUE2>
double gtsam::BoundingConstraint2< VALUE1, VALUE2 >::threshold_

Definition at line 115 of file BoundingConstraint.h.


The documentation for this struct was generated from the following file:


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:15