#include <NonlinearInequalityConstraint.h>

Inheritance diagram for gtsam::NonlinearInequalityConstraint:

[legend]

Public Types
typedef NonlinearConstraint	Base

typedef NonlinearFactor	Base

typedef std::shared_ptr< This >	shared_ptr

typedef NonlinearInequalityConstraint	This

Public Types inherited from gtsam::NonlinearConstraint
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
virtual bool	active (const Values &x) const override

virtual NonlinearEqualityConstraint::shared_ptr	createEqualityConstraint () const

virtual NoiseModelFactor::shared_ptr	penaltyFactorCustom (InequalityPenaltyFunction::shared_ptr func, const double mu=1.0) const

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

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

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

virtual Vector	whitenedExpr (const Values &x) const

virtual	~NonlinearInequalityConstraint ()

Public Member Functions inherited from gtsam::NonlinearConstraint
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

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 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 ()

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 Member Functions inherited from gtsam::NonlinearConstraint
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 inherited from gtsam::NonlinearConstraint
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)

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

Inequality constraint base class, enforcing g(x) <= 0.

Definition at line 30 of file NonlinearInequalityConstraint.h.

Member Typedef Documentation

◆ Base [1/2]

typedef NonlinearConstraint gtsam::NonlinearInequalityConstraint::Base

Definition at line 32 of file NonlinearInequalityConstraint.h.

◆ Base [2/2]

typedef NonlinearFactor gtsam::NoiseModelFactor::Base

Default constructor.

Definition at line 203 of file NonlinearFactor.h.

◆ shared_ptr

typedef std::shared_ptr<This> gtsam::NonlinearInequalityConstraint::shared_ptr

Definition at line 34 of file NonlinearInequalityConstraint.h.

◆ This

typedef NonlinearInequalityConstraint gtsam::NonlinearInequalityConstraint::This

Definition at line 33 of file NonlinearInequalityConstraint.h.

Constructor & Destructor Documentation

◆ ~NonlinearInequalityConstraint()

virtual gtsam::NonlinearInequalityConstraint::~NonlinearInequalityConstraint ( )

inlinevirtual

Destructor.

Definition at line 40 of file NonlinearInequalityConstraint.h.

Member Function Documentation

◆ active()

bool gtsam::NonlinearInequalityConstraint::active ( const Values & x ) const

overridevirtual

Return true if g(x)>=0 in any dimension.

Reimplemented from gtsam::NonlinearFactor.

Definition at line 47 of file NonlinearInequalityConstraint.cpp.

◆ createEqualityConstraint()

NonlinearEqualityConstraint::shared_ptr gtsam::NonlinearInequalityConstraint::createEqualityConstraint ( ) const

virtual

Return an equality constraint corresponding to g(x)=0.

Default behavior, this function should be overriden.

Reimplemented in gtsam::ScalarExpressionInequalityConstraint.

Definition at line 59 of file NonlinearInequalityConstraint.cpp.

◆ penaltyFactorCustom()

NoiseModelFactor::shared_ptr gtsam::NonlinearInequalityConstraint::penaltyFactorCustom	(	InequalityPenaltyFunction::shared_ptr	func,
		const double	mu = `1.0`
	)		const