#include <BasisFactors.h>

Inheritance diagram for gtsam::ManifoldEvaluationFactor< BASIS, T >:

[legend]

Public Member Functions
	ManifoldEvaluationFactor ()

	ManifoldEvaluationFactor (Key key, const T &z, const SharedNoiseModel &model, const size_t N, double x)
	Construct a new ManifoldEvaluationFactor object. More...

	ManifoldEvaluationFactor (Key key, const T &z, const SharedNoiseModel &model, const size_t N, double x, double a, double b)
	Construct a new ManifoldEvaluationFactor object. More...

virtual	~ManifoldEvaluationFactor ()

Public Member Functions inherited from gtsam::FunctorizedFactor< T, Matrix >
NonlinearFactor::shared_ptr	clone () const override

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

	FunctorizedFactor ()

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

	~FunctorizedFactor () override

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< Matrix >
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

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)

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	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 ()

Private Types
using	Base = FunctorizedFactor< T, Matrix >

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

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...

Protected Types inherited from gtsam::NoiseModelFactorN< Matrix >
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<class BASIS, typename T>
class gtsam::ManifoldEvaluationFactor< BASIS, T >

For a measurement value of type T i.e. T z = g(x), this unary factor enforces that the polynomial basis, when evaluated at x, gives us the same z, i.e. T z = g(x) = f(x;p).

This is done via computations on the tangent space of the manifold of T.

Parameters

BASIS	The basis class to use e.g. Chebyshev2
T	Object type which is synthesized by the provided functor.

Example: ManifoldEvaluationFactor<Chebyshev2, Rot3> rotationFactor(key, measurement, model, N, x, a, b);

where x is the value (e.g. timestep) at which the rotation was evaluated.

Definition at line 227 of file BasisFactors.h.

Member Typedef Documentation

◆ Base

template<class BASIS , typename T >

using gtsam::ManifoldEvaluationFactor< BASIS, T >::Base = FunctorizedFactor<T, Matrix>

private

Definition at line 229 of file BasisFactors.h.

Constructor & Destructor Documentation

◆ ManifoldEvaluationFactor() [1/3]

template<class BASIS , typename T >

gtsam::ManifoldEvaluationFactor< BASIS, T >::ManifoldEvaluationFactor ( )

inline

Definition at line 232 of file BasisFactors.h.

◆ ManifoldEvaluationFactor() [2/3]

template<class BASIS , typename T >

gtsam::ManifoldEvaluationFactor< BASIS, T >::ManifoldEvaluationFactor	(	Key	key,
		const T &	z,
		const SharedNoiseModel &	model,
		const size_t	N,
		double	x
	)

inline

Construct a new ManifoldEvaluationFactor object.

Parameters

key	Key for the state matrix parameterizing the function to estimate via the BASIS.
z	The measurement value.
model	The noise model.
N	The degree of the polynomial.
x	The point at which the estimated function is evaluated.

Definition at line 244 of file BasisFactors.h.

◆ ManifoldEvaluationFactor() [3/3]

template<class BASIS , typename T >

gtsam::ManifoldEvaluationFactor< BASIS, T >::ManifoldEvaluationFactor	(	Key	key,
		const T &	z,
		const SharedNoiseModel &	model,
		const size_t	N,
		double	x,
		double	a,
		double	b
	)

inline

Construct a new ManifoldEvaluationFactor object.

Parameters

key	Key for the state matrix parameterizing the function to estimate via the BASIS.
z	The measurement value.
model	The noise model.
N	The degree of the polynomial.
x	The point at which the estimated function is evaluated.
a	Lower bound for the polynomial.
b	Upper bound for the polynomial.

Definition at line 261 of file BasisFactors.h.

◆ ~ManifoldEvaluationFactor()

template<class BASIS , typename T >

virtual gtsam::ManifoldEvaluationFactor< BASIS, T >::~ManifoldEvaluationFactor ( )

inlinevirtual

Definition at line 268 of file BasisFactors.h.

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

BasisFactors.h

Public Member Functions

Private Types

Additional Inherited Members

Detailed Description

template<class BASIS, typename T> class gtsam::ManifoldEvaluationFactor< BASIS, T >

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ ManifoldEvaluationFactor() [1/3]

◆ ManifoldEvaluationFactor() [2/3]

◆ ManifoldEvaluationFactor() [3/3]

◆ ~ManifoldEvaluationFactor()

template<class BASIS, typename T>
class gtsam::ManifoldEvaluationFactor< BASIS, T >