#include <NonlinearConstraint.h>

Inheritance diagram for gtsam::NonlinearConstraint:

[legend]

Public Types
typedef NoiseModelFactor	Base

typedef NonlinearFactor	Base

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...

Public Member Functions
double	error (const HybridValues &c) const override

virtual double	error (const Values &c) const

virtual bool	feasible (const Values &x, const double tolerance=1e-5) const

virtual NoiseModelFactor::shared_ptr	penaltyFactor (const double mu=1.0) const

const Vector	sigmas () const

virtual std::vector< Matrix >	unwhitenedHessian (const Values &x) const

virtual double	violation (const Values &x) const

virtual	~NonlinearConstraint ()

Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const

size_t	dim () const override

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

double	error (const HybridValues &c) const override

virtual double	error (const Values &c) const

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)

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

Vector	unweightedWhitenedError (const Values &c) const

virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0

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 ()

Protected Member Functions
SharedDiagonal	penaltyNoise (const double mu) const

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
static SharedNoiseModel	constrainedNoise (const Vector &sigmas)

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)

Additional Inherited Members
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 Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Detailed Description

Base class for nonlinear constraint. The constraint is represented as a NoiseModelFactor with Constrained noise model. whitenedError() returns The constraint violation vector. unwhitenedError() returns the sigma-scaled constraint violation vector.

Definition at line 36 of file NonlinearConstraint.h.

Member Typedef Documentation

◆ Base [1/2]

typedef NoiseModelFactor gtsam::NonlinearConstraint::Base

Definition at line 38 of file NonlinearConstraint.h.

◆ Base [2/2]

typedef NonlinearFactor gtsam::NoiseModelFactor::Base

Use constructors of NoiseModelFactor.

Definition at line 203 of file NonlinearFactor.h.

Constructor & Destructor Documentation

◆ ~NonlinearConstraint()

virtual gtsam::NonlinearConstraint::~NonlinearConstraint ( )

inlinevirtual

Destructor.

Definition at line 46 of file NonlinearConstraint.h.

Member Function Documentation

◆ constrainedNoise()

static SharedNoiseModel gtsam::NonlinearConstraint::constrainedNoise ( const Vector & sigmas )

inlinestaticprotected

Default constrained noisemodel used for construction of constraint.

Definition at line 75 of file NonlinearConstraint.h.

◆ error() [1/2]

double NonlinearFactor::error

override

Definition at line 32 of file NonlinearFactor.cpp.

◆ error() [2/2]

double NonlinearFactor::error

Definition at line 27 of file NonlinearFactor.cpp.

◆ feasible()

virtual bool gtsam::NonlinearConstraint::feasible	(	const Values &	x,
		const double	tolerance = `1e-5`
	)		const

inlinevirtual

Check if constraint violation is within tolerance.

Definition at line 57 of file NonlinearConstraint.h.

◆ penaltyFactor()

virtual NoiseModelFactor::shared_ptr gtsam::NonlinearConstraint::penaltyFactor ( const double mu = 1.0 ) const

inlinevirtual

Create a cost factor representing the L2 penalty function with scaling coefficient mu.

Reimplemented in gtsam::ZeroCostConstraint, gtsam::ScalarExpressionInequalityConstraint, and gtsam::ExpressionEqualityConstraint< T >.

Definition at line 49 of file NonlinearConstraint.h.

◆ penaltyNoise()

SharedDiagonal gtsam::NonlinearConstraint::penaltyNoise ( const double mu ) const

inlineprotected

Noise model used for the penalty function.

Definition at line 70 of file NonlinearConstraint.h.

◆ sigmas()

const Vector gtsam::NonlinearConstraint::sigmas ( ) const

inline

Definition at line 61 of file NonlinearConstraint.h.

◆ unwhitenedHessian()

virtual std::vector<Matrix> gtsam::NonlinearConstraint::unwhitenedHessian ( const Values & x ) const

inlinevirtual

Definition at line 64 of file NonlinearConstraint.h.

◆ violation()

virtual double gtsam::NonlinearConstraint::violation ( const Values & x ) const

inlinevirtual

Return the norm of the constraint violation vector.

Definition at line 54 of file NonlinearConstraint.h.

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

NonlinearConstraint.h

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base [1/2]

◆ Base [2/2]

Constructor & Destructor Documentation

◆ ~NonlinearConstraint()

Member Function Documentation

◆ constrainedNoise()

◆ error() [1/2]

◆ error() [2/2]

◆ feasible()

◆ penaltyFactor()

◆ penaltyNoise()

◆ sigmas()

◆ unwhitenedHessian()

◆ violation()