#include <LinearizedFactor.h>
Public Types | |
typedef LinearizedGaussianFactor | Base |
typedef SymmetricBlockMatrix::Block | Block |
A block from the Hessian matrix. More... | |
typedef SymmetricBlockMatrix::Block::ColXpr | Column |
A column containing the linear term h. More... | |
typedef SymmetricBlockMatrix::constBlock | constBlock |
A block from the Hessian matrix (const version) More... | |
typedef SymmetricBlockMatrix::constBlock::ColXpr | constColumn |
A column containing the linear term h (const version) More... | |
typedef std::shared_ptr< LinearizedHessianFactor > | shared_ptr |
typedef LinearizedHessianFactor | This |
Public Types inherited from gtsam::LinearizedGaussianFactor | |
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 | |
gtsam::NonlinearFactor::shared_ptr | clone () const override |
double | constantTerm () const |
size_t | dim () const override |
bool | equals (const NonlinearFactor &expected, double tol=1e-9) const override |
double | error (const Values &c) const override |
std::shared_ptr< GaussianFactor > | linearize (const Values &c) const override |
LinearizedHessianFactor () | |
LinearizedHessianFactor (const HessianFactor::shared_ptr &hessian, const Values &lin_points) | |
constColumn | linearTerm () const |
constColumn | linearTerm (const_iterator j) const |
void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
Eigen::SelfAdjointView< constBlock, Eigen::Upper > | squaredTerm () const |
Matrix | squaredTerm (const_iterator j1, const_iterator j2) const |
~LinearizedHessianFactor () override | |
Public Member Functions inherited from gtsam::LinearizedGaussianFactor | |
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) | |
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 () |
Protected Attributes | |
SymmetricBlockMatrix | info_ |
Protected Attributes inherited from gtsam::LinearizedGaussianFactor | |
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 factor that takes a linear, Hessian factor and inserts it into a nonlinear graph.
Definition at line 172 of file LinearizedFactor.h.
base type
Definition at line 176 of file LinearizedFactor.h.
A block from the Hessian matrix.
hessian block data types
Definition at line 183 of file LinearizedFactor.h.
A column containing the linear term h.
Definition at line 186 of file LinearizedFactor.h.
A block from the Hessian matrix (const version)
Definition at line 184 of file LinearizedFactor.h.
A column containing the linear term h (const version)
Definition at line 187 of file LinearizedFactor.h.
typedef std::shared_ptr<LinearizedHessianFactor> gtsam::LinearizedHessianFactor::shared_ptr |
shared pointer for convenience
Definition at line 180 of file LinearizedFactor.h.
Definition at line 177 of file LinearizedFactor.h.
gtsam::LinearizedHessianFactor::LinearizedHessianFactor | ( | ) |
default constructor for serialization
Definition at line 137 of file LinearizedFactor.cpp.
gtsam::LinearizedHessianFactor::LinearizedHessianFactor | ( | const HessianFactor::shared_ptr & | hessian, |
const Values & | lin_points | ||
) |
Use this constructor with the ordering used to linearize the graph
hessian | A hessian factor |
lin_points | The linearization points for, at least, the variables used by this factor |
Definition at line 141 of file LinearizedFactor.cpp.
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inlineoverride |
Definition at line 206 of file LinearizedFactor.h.
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inlineoverridevirtual |
Reimplemented from gtsam::NonlinearFactor.
Definition at line 209 of file LinearizedFactor.h.
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inline |
Return the constant term as described above
Definition at line 224 of file LinearizedFactor.h.
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inlineoverridevirtual |
get the dimension of the factor (number of rows on linearization)
Implements gtsam::NonlinearFactor.
Definition at line 268 of file LinearizedFactor.h.
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overridevirtual |
equals function with optional tolerance
Reimplemented from gtsam::NonlinearFactor.
Definition at line 161 of file LinearizedFactor.cpp.
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overridevirtual |
Calculate the error of the factor
Reimplemented from gtsam::NonlinearFactor.
Definition at line 180 of file LinearizedFactor.cpp.
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overridevirtual |
linearize to a GaussianFactor Reimplemented from NoiseModelFactor to directly copy out the matrices and only update the RHS b with an updated residual
Implements gtsam::NonlinearFactor.
Definition at line 203 of file LinearizedFactor.cpp.
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inline |
Return the complete linear term as described above.
Definition at line 239 of file LinearizedFactor.h.
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inline |
Return the part of linear term as described above corresponding to the requested variable.
j | Which block row to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor. |
Definition at line 233 of file LinearizedFactor.h.
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overridevirtual |
print function
Reimplemented from gtsam::NonlinearFactor.
Definition at line 146 of file LinearizedFactor.cpp.
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inline |
Return the upper-triangular part of the full squared term, as described above. See HessianFactor class documentation above to explain that only the upper-triangular part of the information matrix is stored and returned by this function.
Definition at line 263 of file LinearizedFactor.h.
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inline |
Return a copy of the block at (j1,j2) of the upper-triangular part of the squared term , no data is copied. See HessianFactor class documentation above to explain that only the upper-triangular part of the information matrix is stored and returned by this function.
j1 | Which block row to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor. |
j2 | Which block column to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor. |
Definition at line 253 of file LinearizedFactor.h.
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protected |
The block view of the full information matrix, s.t. the quadratic error is 0.5*[x -1]'H[x -1]
Definition at line 191 of file LinearizedFactor.h.