#include <FunctorizedFactor.h>

Inheritance diagram for gtsam::FunctorizedFactor< R, T >:

[legend]

Public Member Functions
NonlinearFactor::shared_ptr	clone () const override

Vector	evaluateError (const T &params, OptionalMatrixType H) const override

	FunctorizedFactor ()

	FunctorizedFactor (Key key, const R &z, const SharedNoiseModel &model, const std::function< R(T, OptionalMatrixType)> func)

	~FunctorizedFactor () override

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

bool	equals (const NonlinearFactor &other, double tol=1e-9) const override

Public Member Functions inherited from gtsam::NoiseModelFactorN< T >
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

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

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	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 Types
using	Base = NoiseModelFactorN< T >

Private Attributes
std::function< R(T, OptionalMatrixType)>	func_
	functor instance More...

R	measured_
	value that is compared with functor return value More...

SharedNoiseModel	noiseModel_
	noise model More...

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

Protected Types inherited from gtsam::NoiseModelFactorN< T >
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<typename R, typename T>
class gtsam::FunctorizedFactor< R, T >

Factor which evaluates provided unary functor and uses the result to compute error with respect to the provided measurement.

Template parameters are

Parameters

R	The return type of the functor after evaluation.
T	The argument type for the functor.

Example: Key key = Symbol('X', 0); auto model = noiseModel::Isotropic::Sigma(9, 1);

/// Functor that takes a matrix and multiplies every element by m class MultiplyFunctor { double m_; ///< simple multiplier public: MultiplyFunctor(double m) : m_(m) {} Matrix operator()(const Matrix &X, OptionalJacobian<-1, -1> H = {}) const { if (H) *H = m_ * Matrix::Identity(X.rows()*X.cols(), X.rows()*X.cols()); return m_ * X; } };

Matrix measurement = Matrix::Identity(3, 3); double multiplier = 2.0;

FunctorizedFactor<Matrix, Matrix> factor(keyX, measurement, model, MultiplyFunctor(multiplier));

Definition at line 59 of file FunctorizedFactor.h.

Member Typedef Documentation

◆ Base

template<typename R , typename T >

using gtsam::FunctorizedFactor< R, T >::Base = NoiseModelFactorN<T>

private

Definition at line 61 of file FunctorizedFactor.h.

Constructor & Destructor Documentation

◆ FunctorizedFactor() [1/2]

template<typename R , typename T >

gtsam::FunctorizedFactor< R, T >::FunctorizedFactor ( )

inline

default constructor - only use for serialization

Definition at line 73 of file FunctorizedFactor.h.

◆ FunctorizedFactor() [2/2]

template<typename R , typename T >

gtsam::FunctorizedFactor< R, T >::FunctorizedFactor	(	Key	key,
		const R &	z,
		const SharedNoiseModel &	model,
		const std::function< R(T, OptionalMatrixType)>	func
	)

inline

Construct with given x and the parameters of the basis

Parameters

key	Factor key
z	Measurement object of same type as that returned by functor
model	Noise model
func	The instance of the functor object

Definition at line 82 of file FunctorizedFactor.h.

◆ ~FunctorizedFactor()

template<typename R , typename T >

gtsam::FunctorizedFactor< R, T >::~FunctorizedFactor ( )

inlineoverride

Definition at line 86 of file FunctorizedFactor.h.

Member Function Documentation

◆ clone()

template<typename R , typename T >

NonlinearFactor::shared_ptr gtsam::FunctorizedFactor< R, T >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 89 of file FunctorizedFactor.h.

◆ equals()

template<typename R , typename T >

bool gtsam::FunctorizedFactor< R, T >::equals	(	const NonlinearFactor &	f,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

Check if two factors are equal

Reimplemented from gtsam::NonlinearFactor.

Definition at line 113 of file FunctorizedFactor.h.

◆ evaluateError()

template<typename R , typename T >

Vector gtsam::FunctorizedFactor< R, T >::evaluateError	(	const T &	params,
		OptionalMatrixType	H
	)		const

inlineoverride

Definition at line 94 of file FunctorizedFactor.h.

◆ print()

template<typename R , typename T >

void gtsam::FunctorizedFactor< R, T >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 102 of file FunctorizedFactor.h.

Member Data Documentation

◆ func_

template<typename R , typename T >

std::function<R(T, OptionalMatrixType)> gtsam::FunctorizedFactor< R, T >::func_

private

functor instance

Definition at line 65 of file FunctorizedFactor.h.

◆ measured_

template<typename R , typename T >

R gtsam::FunctorizedFactor< R, T >::measured_

private

value that is compared with functor return value

Definition at line 63 of file FunctorizedFactor.h.

◆ noiseModel_

template<typename R , typename T >

SharedNoiseModel gtsam::FunctorizedFactor< R, T >::noiseModel_

private

noise model

Definition at line 64 of file FunctorizedFactor.h.

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

FunctorizedFactor.h

Public Member Functions

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

template<typename R, typename T> class gtsam::FunctorizedFactor< R, T >

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ FunctorizedFactor() [1/2]

◆ FunctorizedFactor() [2/2]

◆ ~FunctorizedFactor()

Member Function Documentation

◆ clone()

◆ equals()

◆ evaluateError()

◆ print()

Member Data Documentation

◆ func_

◆ measured_

◆ noiseModel_

template<typename R, typename T>
class gtsam::FunctorizedFactor< R, T >