#include <ExpressionFactor.h>
Public Types | |
using | ArrayNKeys = std::array< Key, NARY_EXPRESSION_SIZE > |
Public Types inherited from gtsam::ExpressionFactor< T > | |
typedef std::shared_ptr< ExpressionFactor< T > > | shared_ptr |
Public Member Functions | |
virtual Expression< T > | expression (const ArrayNKeys &keys) const |
Public Member Functions inherited from gtsam::ExpressionFactor< T > | |
gtsam::NonlinearFactor::shared_ptr | clone () const override |
bool | equals (const NonlinearFactor &f, double tol) const override |
equals relies on Testable traits being defined for T More... | |
ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement, const Expression< T > &expression) | |
std::shared_ptr< GaussianFactor > | linearize (const Values &x) const override |
const T & | measured () const |
void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
print relies on Testable traits being defined for T More... | |
Vector | unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override |
virtual Vector | unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const=0 |
Vector | unwhitenedError (const Values &x, std::vector< Matrix > &H) const |
~ExpressionFactor () override | |
Destructor. More... | |
Static Public Attributes | |
static const std::size_t | NARY_EXPRESSION_SIZE = sizeof...(Args) |
Protected Member Functions | |
ExpressionFactorN ()=default | |
Default constructor, for serialization. More... | |
ExpressionFactorN (const ArrayNKeys &keys, const SharedNoiseModel &noiseModel, const T &measurement) | |
Constructor takes care of keys, but still need to call initialize. More... | |
Protected Member Functions inherited from gtsam::ExpressionFactor< T > | |
ExpressionFactor () | |
ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement) | |
Default constructor, for serialization. More... | |
void | initialize (const Expression< T > &expression) |
Initialize with constructor arguments. More... | |
Private Member Functions | |
Expression< T > | expression () const override |
Return an expression that predicts the measurement given Values. More... | |
Additional Inherited Members | |
Protected Types inherited from gtsam::ExpressionFactor< T > | |
typedef ExpressionFactor< T > | This |
Protected Attributes inherited from gtsam::ExpressionFactor< T > | |
FastVector< int > | dims_ |
dimensions of the Jacobian matrices More... | |
Expression< T > | expression_ |
the expression that is AD enabled More... | |
T | measured_ |
the measurement to be compared with the expression More... | |
Static Protected Attributes inherited from gtsam::ExpressionFactor< T > | |
static const int | Dim = traits<T>::dimension |
N-ary variadic template for ExpressionFactor meant as a base class for N-ary factors. Enforces an 'expression' method with N keys. Derived class (an N-factor!) needs to call 'initialize'.
Does not provide backward compatible 'evaluateError'.
T | Type for measurements. The rest of template arguments are types for the N key-indexed Values. |
Definition at line 249 of file ExpressionFactor.h.
using gtsam::ExpressionFactorN< T, Args >::ArrayNKeys = std::array<Key, NARY_EXPRESSION_SIZE> |
Definition at line 252 of file ExpressionFactor.h.
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protecteddefault |
Default constructor, for serialization.
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inlineprotected |
Constructor takes care of keys, but still need to call initialize.
Definition at line 273 of file ExpressionFactor.h.
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inlineoverrideprivatevirtual |
Return an expression that predicts the measurement given Values.
Reimplemented from gtsam::ExpressionFactor< T >.
Definition at line 282 of file ExpressionFactor.h.
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inlinevirtual |
Recreate expression from given keys_ and measured_, used in load Needed to deserialize a derived factor
Definition at line 263 of file ExpressionFactor.h.
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static |
Definition at line 251 of file ExpressionFactor.h.