#include <LinearizedFactor.h>
Public Types | |
typedef VerticalBlockMatrix::Block | ABlock |
typedef LinearizedGaussianFactor | Base |
typedef VerticalBlockMatrix::Block::ColXpr | BVector |
typedef VerticalBlockMatrix::constBlock | constABlock |
typedef VerticalBlockMatrix::constBlock::ConstColXpr | constBVector |
typedef std::shared_ptr< LinearizedJacobianFactor > | shared_ptr |
typedef LinearizedJacobianFactor | 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 | |
const constABlock | A () const |
const constABlock | A (Key key) const |
const constBVector | b () const |
gtsam::NonlinearFactor::shared_ptr | clone () const override |
size_t | dim () const override |
bool | equals (const NonlinearFactor &expected, double tol=1e-9) const override |
double | error (const Values &c) const override |
Vector | error_vector (const Values &c) const |
std::shared_ptr< GaussianFactor > | linearize (const Values &c) const override |
LinearizedJacobianFactor () | |
LinearizedJacobianFactor (const JacobianFactor::shared_ptr &jacobian, const Values &lin_points) | |
void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
~LinearizedJacobianFactor () 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 | |
VerticalBlockMatrix | Ab_ |
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, Jacobian factor and inserts it into a nonlinear graph.
Definition at line 79 of file LinearizedFactor.h.
Definition at line 89 of file LinearizedFactor.h.
base type
Definition at line 83 of file LinearizedFactor.h.
Definition at line 91 of file LinearizedFactor.h.
Definition at line 90 of file LinearizedFactor.h.
Definition at line 92 of file LinearizedFactor.h.
typedef std::shared_ptr<LinearizedJacobianFactor> gtsam::LinearizedJacobianFactor::shared_ptr |
shared pointer for convenience
Definition at line 87 of file LinearizedFactor.h.
Definition at line 84 of file LinearizedFactor.h.
gtsam::LinearizedJacobianFactor::LinearizedJacobianFactor | ( | ) |
default constructor for serialization
Definition at line 39 of file LinearizedFactor.cpp.
gtsam::LinearizedJacobianFactor::LinearizedJacobianFactor | ( | const JacobianFactor::shared_ptr & | jacobian, |
const Values & | lin_points | ||
) |
jacobian | A jacobian factor |
lin_points | The linearization points for, at least, the variables used by this factor |
Definition at line 43 of file LinearizedFactor.cpp.
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inlineoverride |
Definition at line 114 of file LinearizedFactor.h.
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inline |
Definition at line 131 of file LinearizedFactor.h.
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inline |
Definition at line 132 of file LinearizedFactor.h.
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inline |
Definition at line 130 of file LinearizedFactor.h.
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inlineoverridevirtual |
Reimplemented from gtsam::NonlinearFactor.
Definition at line 117 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 135 of file LinearizedFactor.h.
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overridevirtual |
equals function with optional tolerance
Reimplemented from gtsam::NonlinearFactor.
Definition at line 80 of file LinearizedFactor.cpp.
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overridevirtual |
Calculate the error of the factor
Reimplemented from gtsam::NonlinearFactor.
Definition at line 97 of file LinearizedFactor.cpp.
(A*x-b)
Definition at line 119 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 104 of file LinearizedFactor.cpp.
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overridevirtual |
print function
Reimplemented from gtsam::NonlinearFactor.
Definition at line 62 of file LinearizedFactor.cpp.
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protected |
Definition at line 101 of file LinearizedFactor.h.