|
Vector | evaluateError (const Rot &R1, const Rot &R2, OptionalMatrixType H1, OptionalMatrixType H2) const override |
| Error is just Frobenius norm between rotation matrices. More...
|
|
| FrobeniusFactor (Key j1, Key j2, const SharedNoiseModel &model=nullptr) |
| Constructor. More...
|
|
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 |
|
shared_ptr | cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const |
|
size_t | dim () const override |
|
bool | equals (const NonlinearFactor &f, double tol=1e-9) 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) |
|
void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
|
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 |
|
| 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 |
|
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 () |
|
|
enum | |
| N is the number of variables (N-way factor) More...
|
|
using | ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type |
|
typedef std::shared_ptr< This > | shared_ptr |
|
typedef std::shared_ptr< This > | shared_ptr |
|
typedef KeyVector::const_iterator | const_iterator |
| Const iterator over keys. More...
|
|
typedef KeyVector::iterator | iterator |
| Iterator over keys. More...
|
|
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 > |
|
typedef NonlinearFactor | Base |
|
typedef NoiseModelFactor | This |
|
typedef Factor | Base |
|
typedef NonlinearFactor | This |
|
| NoiseModelFactor (const SharedNoiseModel &noiseModel) |
|
| Factor () |
|
template<typename CONTAINER > |
| Factor (const CONTAINER &keys) |
|
template<typename ITERATOR > |
| Factor (ITERATOR first, ITERATOR last) |
|
template<typename CONTAINER > |
static Factor | FromKeys (const CONTAINER &keys) |
|
template<typename ITERATOR > |
static Factor | FromIterators (ITERATOR first, ITERATOR last) |
|
SharedNoiseModel | noiseModel_ |
|
KeyVector | keys_ |
| The keys involved in this factor. More...
|
|
template<class Rot>
class gtsam::FrobeniusFactor< Rot >
FrobeniusFactor calculates the Frobenius norm between rotation matrices. The template argument can be any fixed-size SO<N>.
Definition at line 81 of file FrobeniusFactor.h.