#include <FrobeniusFactor.h>

Inheritance diagram for gtsam::FrobeniusBetweenFactor< Rot >:

[legend]

Public Member Functions
Constructor
	FrobeniusBetweenFactor (Key j1, Key j2, const Rot &R12, const SharedNoiseModel &model=nullptr)
	Construct from two keys and measured rotation. More...

Testable
void	print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print with optional string More...

bool	equals (const NonlinearFactor &expected, double tol=1e-9) const override
	assert equality up to a tolerance More...

NoiseModelFactorN methods
Vector	evaluateError (const Rot &R1, const Rot &R2, OptionalMatrixType H1, OptionalMatrixType H2) const override
	Error is Frobenius norm between R1*R12 and R2. More...

Public Member Functions inherited from gtsam::NoiseModelFactorN< Rot, Rot >
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

size_t	dim () const override

double	error (const Values &c) const override

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

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 ()

Private Attributes
Rot	R12_
	measured rotation between R1 and R2 More...

Eigen::Matrix< double, Rot::dimension, Rot::dimension >	R2hat_H_R1_
	fixed derivative of R2hat wrpt R1 More...

Static Private Attributes
constexpr static auto	Dim = Rot::VectorN2::RowsAtCompileTime

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactorN< Rot, Rot >
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< Rot, Rot >
constexpr static auto	N
	N is the number of variables (N-way factor) More...

Protected Types inherited from gtsam::NoiseModelFactorN< Rot, Rot >
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)

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Detailed Description

template<class Rot>
class gtsam::FrobeniusBetweenFactor< Rot >

FrobeniusBetweenFactor is a BetweenFactor that evaluates the Frobenius norm of the rotation error between measured and predicted (rather than the Logmap of the error). This factor is only defined for fixed-dimension types, and in fact only SO3 and SO4 really work, as we need SO<N>::AdjointMap.

Definition at line 110 of file FrobeniusFactor.h.

Constructor & Destructor Documentation

◆ FrobeniusBetweenFactor()

template<class Rot >

gtsam::FrobeniusBetweenFactor< Rot >::FrobeniusBetweenFactor	(	Key	j1,
		Key	j2,
		const Rot &	R12,
		const SharedNoiseModel &	model = `nullptr`
	)

inline

Construct from two keys and measured rotation.

Definition at line 127 of file FrobeniusFactor.h.

Member Function Documentation

◆ equals()

template<class Rot >

bool gtsam::FrobeniusBetweenFactor< Rot >::equals	(	const NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

assert equality up to a tolerance

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 150 of file FrobeniusFactor.h.

◆ evaluateError()

template<class Rot >

Vector gtsam::FrobeniusBetweenFactor< Rot >::evaluateError	(	const Rot &	R1,
		const Rot &	R2,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2
	)		const

inlineoverride

Error is Frobenius norm between R1*R12 and R2.

Definition at line 162 of file FrobeniusFactor.h.

◆ print()

template<class Rot >

void gtsam::FrobeniusBetweenFactor< Rot >::print	(	const std::string &	s,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print with optional string

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 140 of file FrobeniusFactor.h.

Member Data Documentation

◆ Dim

template<class Rot >

constexpr static auto gtsam::FrobeniusBetweenFactor< Rot >::Dim = Rot::VectorN2::RowsAtCompileTime

inlinestaticconstexprprivate

Definition at line 114 of file FrobeniusFactor.h.

◆ R12_

template<class Rot >

Rot gtsam::FrobeniusBetweenFactor< Rot >::R12_

private

measured rotation between R1 and R2

Definition at line 111 of file FrobeniusFactor.h.

◆ R2hat_H_R1_

template<class Rot >

Eigen::Matrix<double, Rot::dimension, Rot::dimension> gtsam::FrobeniusBetweenFactor< Rot >::R2hat_H_R1_

private

fixed derivative of R2hat wrpt R1

Definition at line 113 of file FrobeniusFactor.h.

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

FrobeniusFactor.h

Public Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

template<class Rot> class gtsam::FrobeniusBetweenFactor< Rot >

Constructor & Destructor Documentation

◆ FrobeniusBetweenFactor()

Member Function Documentation

◆ equals()

◆ evaluateError()

◆ print()

Member Data Documentation

◆ Dim

◆ R12_

◆ R2hat_H_R1_

template<class Rot>
class gtsam::FrobeniusBetweenFactor< Rot >