#include <LinearizedFactor.h>

Inheritance diagram for gtsam::LinearizedGaussianFactor:

[legend]

Public Types
typedef NonlinearFactor	Base

typedef std::shared_ptr< LinearizedGaussianFactor >	shared_ptr

typedef LinearizedGaussianFactor	This

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...

Public Member Functions
const Values &	linearizationPoint () const

	LinearizedGaussianFactor ()=default

	LinearizedGaussianFactor (const GaussianFactor::shared_ptr &gaussian, const Values &lin_points)

	~LinearizedGaussianFactor () override=default

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)

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

virtual bool	equals (const NonlinearFactor &f, double tol=1e-9) const

virtual double	error (const Values &c) const

double	error (const HybridValues &c) const override

virtual size_t	dim () const =0

virtual bool	active (const Values &) const

virtual std::shared_ptr< GaussianFactor >	linearize (const Values &c) const =0

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
Values	lin_points_

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

Additional Inherited Members
Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

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

A base factor class for the Jacobian and Hessian linearized factors

Definition at line 31 of file LinearizedFactor.h.

Member Typedef Documentation

◆ Base

typedef NonlinearFactor gtsam::LinearizedGaussianFactor::Base

base type

Definition at line 34 of file LinearizedFactor.h.

◆ shared_ptr

typedef std::shared_ptr<LinearizedGaussianFactor> gtsam::LinearizedGaussianFactor::shared_ptr

shared pointer for convenience

Definition at line 38 of file LinearizedFactor.h.

◆ This

typedef LinearizedGaussianFactor gtsam::LinearizedGaussianFactor::This

Definition at line 35 of file LinearizedFactor.h.

Constructor & Destructor Documentation

◆ LinearizedGaussianFactor() [1/2]

gtsam::LinearizedGaussianFactor::LinearizedGaussianFactor ( )

default

default constructor for serialization

◆ LinearizedGaussianFactor() [2/2]

gtsam::LinearizedGaussianFactor::LinearizedGaussianFactor	(	const GaussianFactor::shared_ptr &	gaussian,
		const Values &	lin_points
	)

Parameters

gaussian	A jacobian or hessian factor
lin_points	The linearization points for, at least, the variables used by this factor

Definition at line 25 of file LinearizedFactor.cpp.

◆ ~LinearizedGaussianFactor()

gtsam::LinearizedGaussianFactor::~LinearizedGaussianFactor ( )

overridedefault

Member Function Documentation

◆ linearizationPoint()

const Values& gtsam::LinearizedGaussianFactor::linearizationPoint ( ) const

inline

Definition at line 59 of file LinearizedFactor.h.

Member Data Documentation

◆ lin_points_

Values gtsam::LinearizedGaussianFactor::lin_points_

protected

linearization points for error calculation

Definition at line 43 of file LinearizedFactor.h.

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

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members