Inheritance diagram for NonlinearMeasurementModel:

[legend]

Public Member Functions
size_t	dim () const override

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

double	error (const Values &c) const override

Vector	evaluateError (const Point2 &p, OptionalMatrixType H1) const override

Vector	h (const Point2 &x_t1) const

Matrix	H (const Point2 &x_t1) const

std::shared_ptr< GaussianFactor >	linearize (const Values &c) const override

	NonlinearMeasurementModel ()

	NonlinearMeasurementModel (const Symbol &TestKey, Vector z)

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

Matrix	RInvSqrt (const Point2 &x_t0) const

Vector	whitenedError (const Values &c) const

	~NonlinearMeasurementModel () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< Point2 >
Key	key () const

virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) 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

const SharedNoiseModel &	noiseModel () 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 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 Attributes
Matrix	R_

Matrix	R_invsqrt_

Vector	z_

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Private Types
typedef NoiseModelFactorN< Point2 >	Base

typedef NonlinearMeasurementModel	This

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactorN< Point2 >
using	ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type

Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::NonlinearFactor
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...

Static Public Attributes inherited from gtsam::NoiseModelFactorN< Point2 >
constexpr static auto	N
	N is the number of variables (N-way factor) More...

Protected Types inherited from gtsam::NoiseModelFactorN< Point2 >
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)

Detailed Description

Definition at line 240 of file testExtendedKalmanFilter.cpp.

Member Typedef Documentation

◆ Base

typedef NoiseModelFactorN<Point2> NonlinearMeasurementModel::Base

private

Definition at line 242 of file testExtendedKalmanFilter.cpp.

◆ This

typedef NonlinearMeasurementModel NonlinearMeasurementModel::This

private

Definition at line 243 of file testExtendedKalmanFilter.cpp.

Constructor & Destructor Documentation

◆ NonlinearMeasurementModel() [1/2]

NonlinearMeasurementModel::NonlinearMeasurementModel ( )

inline

Definition at line 255 of file testExtendedKalmanFilter.cpp.

◆ NonlinearMeasurementModel() [2/2]

NonlinearMeasurementModel::NonlinearMeasurementModel	(	const Symbol &	TestKey,
		Vector	z
	)

inline

Definition at line 257 of file testExtendedKalmanFilter.cpp.

◆ ~NonlinearMeasurementModel()

NonlinearMeasurementModel::~NonlinearMeasurementModel ( )

inlineoverride

Definition at line 267 of file testExtendedKalmanFilter.cpp.

Member Function Documentation

◆ dim()

size_t NonlinearMeasurementModel::dim ( ) const

inlineoverridevirtual

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

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 317 of file testExtendedKalmanFilter.cpp.

◆ equals()

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

inlineoverridevirtual

Check if two factors are equal. Note type is IndexFactor and needs cast.

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 302 of file testExtendedKalmanFilter.cpp.

◆ error()

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

inlineoverridevirtual

calculate the error of the factor Override for systems with unusual noise models

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 311 of file testExtendedKalmanFilter.cpp.

◆ evaluateError()

Vector NonlinearMeasurementModel::evaluateError	(	const Point2 &	p,
		OptionalMatrixType	H1
	)		const

inlineoverride

vector of errors

Definition at line 349 of file testExtendedKalmanFilter.cpp.

◆ h()

Vector NonlinearMeasurementModel::h ( const Point2 & x_t1 ) const

inline

Definition at line 271 of file testExtendedKalmanFilter.cpp.

◆ H()

Matrix NonlinearMeasurementModel::H ( const Point2 & x_t1 ) const

inline

Definition at line 280 of file testExtendedKalmanFilter.cpp.

◆ linearize()

std::shared_ptr<GaussianFactor> NonlinearMeasurementModel::linearize ( const Values & c ) const

inlineoverridevirtual

Linearize a nonlinearFactor1 measurement factor into a GaussianFactor Ax-b \approx h(x1+dx1)-z = h(x1) + A1*dx1 - z Hence b = z - h(x1) = - error_vector(x)

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 331 of file testExtendedKalmanFilter.cpp.