Inheritance diagram for NonlinearMotionModel:

[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 &p1, const Point2 &p2, OptionalMatrixType H1, OptionalMatrixType H2) const override

Point2	f (const Point2 &x_t0) const

Matrix	F (const Point2 &x_t0) const

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

	NonlinearMotionModel ()

	NonlinearMotionModel (const Symbol &TestKey1, const Symbol &TestKey2)

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

Matrix	QInvSqrt (const Point2 &x_t0) const

Vector	whitenedError (const Values &c) const

	~NonlinearMotionModel () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< Point2, 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	Q_

Matrix	Q_invsqrt_

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, Point2 >	Base

typedef NonlinearMotionModel	This

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactorN< Point2, 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, 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 94 of file testExtendedKalmanFilter.cpp.

Member Typedef Documentation

◆ Base

typedef NoiseModelFactorN<Point2, Point2> NonlinearMotionModel::Base

private

Definition at line 96 of file testExtendedKalmanFilter.cpp.

◆ This

typedef NonlinearMotionModel NonlinearMotionModel::This

private

Definition at line 97 of file testExtendedKalmanFilter.cpp.

Constructor & Destructor Documentation

◆ NonlinearMotionModel() [1/2]

NonlinearMotionModel::NonlinearMotionModel ( )

inline

Definition at line 108 of file testExtendedKalmanFilter.cpp.

◆ NonlinearMotionModel() [2/2]

NonlinearMotionModel::NonlinearMotionModel	(	const Symbol &	TestKey1,
		const Symbol &	TestKey2
	)

inline

Definition at line 110 of file testExtendedKalmanFilter.cpp.

◆ ~NonlinearMotionModel()

NonlinearMotionModel::~NonlinearMotionModel ( )

inlineoverride

Definition at line 127 of file testExtendedKalmanFilter.cpp.

Member Function Documentation

◆ dim()

size_t NonlinearMotionModel::dim ( ) const

inlineoverridevirtual

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

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 182 of file testExtendedKalmanFilter.cpp.

◆ equals()

bool NonlinearMotionModel::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 167 of file testExtendedKalmanFilter.cpp.

◆ error()

double NonlinearMotionModel::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 176 of file testExtendedKalmanFilter.cpp.

◆ evaluateError()

Vector NonlinearMotionModel::evaluateError	(	const Point2 &	p1,
		const Point2 &	p2,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2
	)		const

inlineoverride

vector of errors

Definition at line 219 of file testExtendedKalmanFilter.cpp.

◆ f()

Point2 NonlinearMotionModel::f ( const Point2 & x_t0 ) const

inline

Definition at line 130 of file testExtendedKalmanFilter.cpp.

◆ F()

Matrix NonlinearMotionModel::F ( const Point2 & x_t0 ) const

inline

Definition at line 142 of file testExtendedKalmanFilter.cpp.

◆ linearize()

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

inlineoverridevirtual

Linearize a non-linearFactor2 to get a GaussianFactor Ax-b \approx h(x1+dx1,x2+dx2)-z = h(x1,x2) + A2*dx1 + A2*dx2 - z Hence b = z - h(x1,x2) = - error_vector(x)

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 196 of file testExtendedKalmanFilter.cpp.