#include <NonlinearEquality.h>

Inheritance diagram for gtsam::NonlinearEquality< VALUE >:

[legend]

Public Types
using	CompareFunction = std::function< bool(const T &, const T &)>
	Function that compares two values. More...

typedef VALUE	T

Public Types inherited from gtsam::NoiseModelFactorN< VALUE >
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...

Public Member Functions
	NonlinearEquality ()
	Default constructor - only for serialization. More...

	~NonlinearEquality () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< VALUE >
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

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

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

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	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 ()

Public Attributes
CompareFunction	compare_

Private Types
using	Base = NoiseModelFactorN< VALUE >

using	This = NonlinearEquality< VALUE >

Private Attributes
bool	allow_error_

double	error_gain_

T	feasible_

Standard Constructors
	NonlinearEquality (Key j, const T &feasible, const CompareFunction &_compare=std::bind(traits< T >::Equals, std::placeholders::_1, std::placeholders::_2, 1e-9))

	NonlinearEquality (Key j, const T &feasible, double error_gain, const CompareFunction &_compare=std::bind(traits< T >::Equals, std::placeholders::_1, std::placeholders::_2, 1e-9))

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

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

Standard Interface
double	error (const Values &c) const override
	Actual error function calculation. More...

Vector	evaluateError (const T &xj, OptionalMatrixType H) const override
	Error function. More...

GaussianFactor::shared_ptr	linearize (const Values &x) const override
	Linearize is over-written, because base linearization tries to whiten. More...

gtsam::NonlinearFactor::shared_ptr	clone () const override

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactorN< VALUE >
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 VALUE>
class gtsam::NonlinearEquality< VALUE >

An equality factor that forces either one variable to a constant, or a set of variables to be equal to each other.

Depending on flag, throws an error at linearization if the constraints are not met.

Switchable implementation:

ALLLOW_ERROR : if we allow that there can be nonzero error, does not throw, and uses gain
ONLY_EXACT : throws error at linearization if not at exact feasible point, and infinite error

Definition at line 43 of file NonlinearEquality.h.

Member Typedef Documentation

◆ Base

template<class VALUE >

using gtsam::NonlinearEquality< VALUE >::Base = NoiseModelFactorN<VALUE>

private

Definition at line 66 of file NonlinearEquality.h.

◆ CompareFunction

template<class VALUE >

using gtsam::NonlinearEquality< VALUE >::CompareFunction = std::function<bool(const T&, const T&)>

Function that compares two values.

Definition at line 71 of file NonlinearEquality.h.

◆ T

template<class VALUE >

typedef VALUE gtsam::NonlinearEquality< VALUE >::T

Definition at line 46 of file NonlinearEquality.h.

◆ This

template<class VALUE >

using gtsam::NonlinearEquality< VALUE >::This = NonlinearEquality<VALUE>

private

Definition at line 63 of file NonlinearEquality.h.

Constructor & Destructor Documentation

◆ NonlinearEquality() [1/3]

template<class VALUE >

gtsam::NonlinearEquality< VALUE >::NonlinearEquality ( )

inline

Default constructor - only for serialization.

Definition at line 75 of file NonlinearEquality.h.

◆ ~NonlinearEquality()

template<class VALUE >

gtsam::NonlinearEquality< VALUE >::~NonlinearEquality ( )

inlineoverride

Definition at line 78 of file NonlinearEquality.h.

◆ NonlinearEquality() [2/3]

template<class VALUE >

gtsam::NonlinearEquality< VALUE >::NonlinearEquality	(	Key	j,
		const T &	feasible,
		const CompareFunction &	_compare = `std::bind(traits<T>::Equals, std::placeholders::_1, std::placeholders::_2, 1e-9)`
	)

inline

Constructor - forces exact evaluation

Definition at line 87 of file NonlinearEquality.h.

◆ NonlinearEquality() [3/3]

template<class VALUE >

gtsam::NonlinearEquality< VALUE >::NonlinearEquality	(	Key	j,
		const T &	feasible,
		double	error_gain,
		const CompareFunction &	_compare = `std::bind(traits<T>::Equals, std::placeholders::_1, std::placeholders::_2, 1e-9)`
	)

inline

Constructor - allows inexact evaluation

Definition at line 98 of file NonlinearEquality.h.

Member Function Documentation

◆ clone()

template<class VALUE >

gtsam::NonlinearFactor::shared_ptr gtsam::NonlinearEquality< VALUE >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 172 of file NonlinearEquality.h.

◆ equals()

template<class VALUE >

bool gtsam::NonlinearEquality< VALUE >::equals	(	const NonlinearFactor &	f,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

Check if two factors are equal

Reimplemented from gtsam::NonlinearFactor.

Definition at line 120 of file NonlinearEquality.h.

◆ error()

template<class VALUE >

double gtsam::NonlinearEquality< VALUE >::error ( const Values & c ) const

inlineoverridevirtual

Actual error function calculation.

Reimplemented from gtsam::NonlinearFactor.

Definition at line 131 of file NonlinearEquality.h.

◆ evaluateError()

template<class VALUE >

Vector gtsam::NonlinearEquality< VALUE >::evaluateError	(	const T &	xj,
		OptionalMatrixType	H
	)		const

inlineoverride

Error function.

Definition at line 142 of file NonlinearEquality.h.

◆ linearize()

template<class VALUE >

GaussianFactor::shared_ptr gtsam::NonlinearEquality< VALUE >::linearize ( const Values & x ) const

inlineoverridevirtual

Linearize is over-written, because base linearization tries to whiten.

Implements gtsam::NonlinearFactor.

Definition at line 162 of file NonlinearEquality.h.

◆ print()

template<class VALUE >

void gtsam::NonlinearEquality< VALUE >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 110 of file NonlinearEquality.h.

Member Data Documentation

◆ allow_error_

template<class VALUE >

bool gtsam::NonlinearEquality< VALUE >::allow_error_

private

Definition at line 57 of file NonlinearEquality.h.

◆ compare_

template<class VALUE >

CompareFunction gtsam::NonlinearEquality< VALUE >::compare_

Definition at line 72 of file NonlinearEquality.h.

◆ error_gain_

template<class VALUE >

double gtsam::NonlinearEquality< VALUE >::error_gain_

private

Definition at line 60 of file NonlinearEquality.h.

◆ feasible_

template<class VALUE >

T gtsam::NonlinearEquality< VALUE >::feasible_

private

Definition at line 54 of file NonlinearEquality.h.

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

NonlinearEquality.h

Public Types

Public Member Functions

Public Attributes

Private Types

Private Attributes

Standard Constructors

Testable

Standard Interface

Additional Inherited Members

Detailed Description

template<class VALUE> class gtsam::NonlinearEquality< VALUE >

Member Typedef Documentation

◆ Base

◆ CompareFunction

◆ T

◆ This

Constructor & Destructor Documentation

◆ NonlinearEquality() [1/3]

◆ ~NonlinearEquality()

◆ NonlinearEquality() [2/3]

◆ NonlinearEquality() [3/3]

Member Function Documentation

◆ clone()

◆ equals()

◆ error()

◆ evaluateError()

◆ linearize()

◆ print()

Member Data Documentation

◆ allow_error_

◆ compare_

◆ error_gain_

◆ feasible_

template<class VALUE>
class gtsam::NonlinearEquality< VALUE >