#include <NonlinearEquality.h>

Inheritance diagram for gtsam::NonlinearEquality2< T >:

[legend]

Public Types
typedef std::shared_ptr< NonlinearEquality2< T > >	shared_ptr

Public Types inherited from gtsam::NoiseModelFactorN< T, T >
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
gtsam::NonlinearFactor::shared_ptr	clone () const override

Vector	evaluateError (const T &x1, const T &x2, OptionalMatrixType H1, OptionalMatrixType H2) const override
	g(x) with optional derivative2 More...

	NonlinearEquality2 (Key key1, Key key2, double mu=1e4)

	~NonlinearEquality2 () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< T, T >
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 ()

Protected Types
using	Base = NoiseModelFactorN< T, T >

using	This = NonlinearEquality2< T >

Protected Types inherited from gtsam::NoiseModelFactorN< T, T >
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
	NonlinearEquality2 ()
	Default constructor to allow for serialization. More...

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)

Additional Inherited Members
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 T>
class gtsam::NonlinearEquality2< T >

Simple binary equality constraint - this constraint forces two variables to be the same.

Definition at line 301 of file NonlinearEquality.h.

Member Typedef Documentation

◆ Base

template<class T >

using gtsam::NonlinearEquality2< T >::Base = NoiseModelFactorN<T, T>

protected

Definition at line 303 of file NonlinearEquality.h.

◆ shared_ptr

template<class T >

typedef std::shared_ptr<NonlinearEquality2<T> > gtsam::NonlinearEquality2< T >::shared_ptr

Definition at line 312 of file NonlinearEquality.h.

◆ This

template<class T >

using gtsam::NonlinearEquality2< T >::This = NonlinearEquality2<T>

protected

Definition at line 304 of file NonlinearEquality.h.

Constructor & Destructor Documentation

◆ NonlinearEquality2() [1/2]

template<class T >

gtsam::NonlinearEquality2< T >::NonlinearEquality2 ( )

inlineprotected

Default constructor to allow for serialization.

Definition at line 309 of file NonlinearEquality.h.

◆ NonlinearEquality2() [2/2]

template<class T >

gtsam::NonlinearEquality2< T >::NonlinearEquality2	(	Key	key1,
		Key	key2,
		double	mu = `1e4`
	)

inline

Constructor

Parameters

key1	the key for the first unknown variable to be constrained
key2	the key for the second unknown variable to be constrained
mu	a parameter which really turns this into a strong prior

Definition at line 324 of file NonlinearEquality.h.

◆ ~NonlinearEquality2()

template<class T >

gtsam::NonlinearEquality2< T >::~NonlinearEquality2 ( )

inlineoverride

Definition at line 327 of file NonlinearEquality.h.

Member Function Documentation

◆ clone()

template<class T >

gtsam::NonlinearFactor::shared_ptr gtsam::NonlinearEquality2< T >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 330 of file NonlinearEquality.h.

◆ evaluateError()

template<class T >

Vector gtsam::NonlinearEquality2< T >::evaluateError	(	const T &	x1,
		const T &	x2,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2
	)		const

inlineoverride

g(x) with optional derivative2

Definition at line 336 of file NonlinearEquality.h.

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

NonlinearEquality.h

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Additional Inherited Members

Detailed Description

template<class T> class gtsam::NonlinearEquality2< T >

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ NonlinearEquality2() [1/2]

◆ NonlinearEquality2() [2/2]

◆ ~NonlinearEquality2()

Member Function Documentation

◆ clone()

◆ evaluateError()

template<class T>
class gtsam::NonlinearEquality2< T >