Public Member Functions | Protected Attributes | Private Types | List of all members
NonlinearMeasurementModel Class Reference
Inheritance diagram for NonlinearMeasurementModel:
Inheritance graph
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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 >
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< 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...
 
- 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.

◆ print()

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

Print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 296 of file testExtendedKalmanFilter.cpp.

◆ RInvSqrt()

Matrix NonlinearMeasurementModel::RInvSqrt ( const Point2 &  x_t0) const
inline

Definition at line 290 of file testExtendedKalmanFilter.cpp.

◆ whitenedError()

Vector NonlinearMeasurementModel::whitenedError ( const Values &  c) const
inline

Vector of errors, whitened !

Definition at line 322 of file testExtendedKalmanFilter.cpp.

Member Data Documentation

◆ R_

Matrix NonlinearMeasurementModel::R_
protected

The measurement

Definition at line 247 of file testExtendedKalmanFilter.cpp.

◆ R_invsqrt_

Matrix NonlinearMeasurementModel::R_invsqrt_
protected

The measurement error covariance

Definition at line 248 of file testExtendedKalmanFilter.cpp.

◆ z_

Vector NonlinearMeasurementModel::z_
protected

Definition at line 246 of file testExtendedKalmanFilter.cpp.

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

gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:10:02