CustomFactor.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
18 #pragma once
19 
21 
22 namespace gtsam {
23 
24 using JacobianVector = std::vector<Matrix>;
25 
26 class CustomFactor;
27 
28 /*
29  * NOTE
30  * ==========
31  * pybind11 will invoke a copy if this is `JacobianVector &`, and modifications in Python will not be reflected.
32  *
33  * This is safe because this is passing a const pointer, and pybind11 will maintain the `std::vector` memory layout.
34  * Thus the pointer will never be invalidated.
35  */
36 using CustomErrorFunction = std::function<Vector(const CustomFactor &, const Values &, const JacobianVector *)>;
37 
45 class GTSAM_EXPORT CustomFactor: public NoiseModelFactor {
46 protected:
48 
49 protected:
50 
52  using This = CustomFactor;
53 
54 public:
55 
59  CustomFactor() = default;
60 
67  CustomFactor(const SharedNoiseModel &noiseModel, const KeyVector &keys, const CustomErrorFunction &errorFunction) :
68  Base(noiseModel, keys) {
69  this->error_function_ = errorFunction;
70  }
71 
76  Vector unwhitenedError(const Values &x, OptionalMatrixVecType H = nullptr) const override;
77 
79  void print(const std::string &s,
80  const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override;
81 
85  bool sendable() const override {
86  return false;
87  }
88 
89 private:
90 
91 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
92 
93  friend class boost::serialization::access;
94  template<class ARCHIVE>
95  void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
96  ar & boost::serialization::make_nvp("CustomFactor",
97  boost::serialization::base_object<Base>(*this));
98  }
99 #endif
100 };
101 
102 }
H
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Definition: gnuplot_common_settings.hh:74
s
RealScalar s
Definition: level1_cplx_impl.h:126
keys
const KeyVector keys
Definition: testRegularImplicitSchurFactor.cpp:40
gtsam::CustomFactor::error_function_
CustomErrorFunction error_function_
Definition: CustomFactor.h:47
x
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
Definition: gnuplot_common_settings.hh:12
gtsam::JacobianVector
std::vector< Matrix > JacobianVector
Definition: CustomFactor.h:24
gtsam::CustomFactor
Definition: CustomFactor.h:45
gtsam::Factor
Definition: Factor.h:70
gtsam::CustomErrorFunction
std::function< Vector(const CustomFactor &, const Values &, const JacobianVector *)> CustomErrorFunction
Definition: CustomFactor.h:36
gtsam::Vector
Eigen::VectorXd Vector
Definition: Vector.h:38
gtsam::KeyVector
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
Definition: Key.h:92
gtsam::DefaultKeyFormatter
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
Definition: Key.cpp:30
gtsam::print
void print(const Matrix &A, const string &s, ostream &stream)
Definition: Matrix.cpp:155
gtsam::KeyFormatter
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition: Key.h:35
gtsam::CustomFactor::sendable
bool sendable() const override
Definition: CustomFactor.h:85
gtsam::SharedNoiseModel
noiseModel::Base::shared_ptr SharedNoiseModel
Definition: NoiseModel.h:762
NonlinearFactor.h
Non-linear factor base classes.
gtsam::OptionalMatrixVecType
std::vector< Matrix > * OptionalMatrixVecType
Definition: NonlinearFactor.h:61
gtsam
traits
Definition: SFMdata.h:40
gtsam::NoiseModelFactor
Definition: NonlinearFactor.h:197
gtsam::Values
Definition: Values.h:65
gtsam::CustomFactor::CustomFactor
CustomFactor(const SharedNoiseModel &noiseModel, const KeyVector &keys, const CustomErrorFunction &errorFunction)
Definition: CustomFactor.h:67


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