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50 throw std::runtime_error(
51 "Cannot convert an unconstrained JacobianFactor to LinearEquality");
57 throw std::runtime_error(
"Cannot convert HessianFactor to LinearEquality");
82 template<
typename TERMS>
105 > (std::make_shared < LinearEquality > (*
this));
Key dualKey() const
dual key
Vector unweighted_error(const VectorValues &c) const
A Gaussian factor using the canonical parameters (information form)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
bool isConstrained() const
LinearEquality(Key i1, const Matrix &A1, const Vector &b, Key dualKey)
LinearEquality(const TERMS &terms, const Vector &b, Key dualKey)
const KeyFormatter & formatter
double error(const VectorValues &c) const override
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
LinearEquality(const JacobianFactor &jf, Key dualKey)
LinearEquality(Key i1, const Matrix &A1, Key i2, const Matrix &A2, const Vector &b, Key dualKey)
Vector error_vector(const VectorValues &c) const
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
std::shared_ptr< This > shared_ptr
shared_ptr to this class
std::shared_ptr< This > shared_ptr
shared_ptr to this class
bool active() const
for active set method: equality constraints are always active
LinearEquality This
Typedef to this class.
GaussianFactor::shared_ptr clone() const override
bool equals(const GaussianFactor &lf, double tol=1e-9) const override
assert equality up to a tolerance
bool equals(const GaussianFactor &lf, double tol=1e-9) const override
LinearEquality(Key i1, const Matrix &A1, Key i2, const Matrix &A2, Key i3, const Matrix &A3, const Vector &b, Key dualKey)
LinearEquality(const HessianFactor &hf)
void print(const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const override
print with optional string
~LinearEquality() override
void print(const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const override
std::uint64_t Key
Integer nonlinear key type.
JacobianFactor Base
Typedef to base class.
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:02:42