#include <LinearizedFactor.h>
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) |
A base factor class for the Jacobian and Hessian linearized factors
Definition at line 31 of file LinearizedFactor.h.
base type
Definition at line 34 of file LinearizedFactor.h.
typedef std::shared_ptr<LinearizedGaussianFactor> gtsam::LinearizedGaussianFactor::shared_ptr |
shared pointer for convenience
Definition at line 38 of file LinearizedFactor.h.
Definition at line 35 of file LinearizedFactor.h.
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default |
default constructor for serialization
gtsam::LinearizedGaussianFactor::LinearizedGaussianFactor | ( | const GaussianFactor::shared_ptr & | gaussian, |
const Values & | lin_points | ||
) |
gaussian | A jacobian or hessian factor |
lin_points | The linearization points for, at least, the variables used by this factor |
Definition at line 24 of file LinearizedFactor.cpp.
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overridedefault |
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inline |
Definition at line 59 of file LinearizedFactor.h.
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protected |
linearization points for error calculation
Definition at line 43 of file LinearizedFactor.h.