#include <ReferenceFrameFactor.h>

Inheritance diagram for gtsam::ReferenceFrameFactor< POINT, TRANSFORM >:

[legend]

Public Types
typedef NoiseModelFactorN< POINT, TRANSFORM, POINT >	Base

typedef POINT	Point

typedef ReferenceFrameFactor< POINT, TRANSFORM >	This

typedef TRANSFORM	Transform

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

Vector	evaluateError (const Point &global, const Transform &trans, const Point &local, OptionalMatrixType Dforeign, OptionalMatrixType Dtrans, OptionalMatrixType Dlocal) const override

Key	global_key () const

Key	local_key () const

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

	ReferenceFrameFactor (double mu, Key globalKey, Key transKey, Key localKey)

	ReferenceFrameFactor (Key globalKey, Key transKey, Key localKey, const noiseModel::Base::shared_ptr &model)

	ReferenceFrameFactor (Key globalKey, Key transKey, Key localKey, double sigma=1e-2)

Key	transform_key () const

	~ReferenceFrameFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< POINT, TRANSFORM, POINT >
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)

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 Member Functions
	ReferenceFrameFactor ()

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 Public Attributes inherited from gtsam::NoiseModelFactorN< POINT, TRANSFORM, POINT >
constexpr static auto	N
	N is the number of variables (N-way factor) More...

Protected Types inherited from gtsam::NoiseModelFactorN< POINT, TRANSFORM, POINT >
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

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 POINT, class TRANSFORM>
class gtsam::ReferenceFrameFactor< POINT, TRANSFORM >

A constraint between two landmarks in separate maps Templated on: Point : Type of landmark Transform : Transform variable class

The transform is defined as transforming global to local: l = lTg * g

The Point and Transform concepts must be Lie types, and the transform relationship "Point = transformFrom(Transform, Point)" must exist.

To implement this function in new domains, specialize a new version of Point transform_point<Transform,Point>(transform, global, Dtrans, Dglobal) to use the correct point and transform types.

This base class should be specialized to implement the cost function for specific classes of landmarks

Definition at line 57 of file ReferenceFrameFactor.h.

Member Typedef Documentation

◆ Base

template<class POINT , class TRANSFORM >

typedef NoiseModelFactorN<POINT, TRANSFORM, POINT> gtsam::ReferenceFrameFactor< POINT, TRANSFORM >::Base

Definition at line 63 of file ReferenceFrameFactor.h.

◆ Point

template<class POINT , class TRANSFORM >

typedef POINT gtsam::ReferenceFrameFactor< POINT, TRANSFORM >::Point

Definition at line 69 of file ReferenceFrameFactor.h.

◆ This

template<class POINT , class TRANSFORM >

typedef ReferenceFrameFactor<POINT, TRANSFORM> gtsam::ReferenceFrameFactor< POINT, TRANSFORM >::This

Definition at line 64 of file ReferenceFrameFactor.h.

◆ Transform

template<class POINT , class TRANSFORM >

typedef TRANSFORM gtsam::ReferenceFrameFactor< POINT, TRANSFORM >::Transform

Definition at line 70 of file ReferenceFrameFactor.h.

Constructor & Destructor Documentation

◆ ReferenceFrameFactor() [1/4]

template<class POINT , class TRANSFORM >

gtsam::ReferenceFrameFactor< POINT, TRANSFORM >::ReferenceFrameFactor ( )

inlineprotected

default constructor for serialization only

Definition at line 60 of file ReferenceFrameFactor.h.

◆ ReferenceFrameFactor() [2/4]

template<class POINT , class TRANSFORM >

gtsam::ReferenceFrameFactor< POINT, TRANSFORM >::ReferenceFrameFactor	(	Key	globalKey,
		Key	transKey,
		Key	localKey,
		const noiseModel::Base::shared_ptr &	model
	)

inline

General constructor with arbitrary noise model (constrained or otherwise)

Definition at line 75 of file ReferenceFrameFactor.h.

◆ ReferenceFrameFactor() [3/4]

template<class POINT , class TRANSFORM >

gtsam::ReferenceFrameFactor< POINT, TRANSFORM >::ReferenceFrameFactor	(	double	mu,
		Key	globalKey,
		Key	transKey,
		Key	localKey
	)

inline

Construct a hard frame of reference reference constraint with equal mu values for each degree of freedom.

Definition at line 82 of file ReferenceFrameFactor.h.

◆ ReferenceFrameFactor() [4/4]

template<class POINT , class TRANSFORM >

gtsam::ReferenceFrameFactor< POINT, TRANSFORM >::ReferenceFrameFactor	(	Key	globalKey,
		Key	transKey,
		Key	localKey,
		double	sigma = `1e-2`
	)

inline

Simple soft constraint constructor for frame of reference, with equal weighting for each degree of freedom.

Definition at line 89 of file ReferenceFrameFactor.h.

◆ ~ReferenceFrameFactor()

template<class POINT , class TRANSFORM >

gtsam::ReferenceFrameFactor< POINT, TRANSFORM >::~ReferenceFrameFactor ( )

inlineoverride

Definition at line 93 of file ReferenceFrameFactor.h.

Member Function Documentation

◆ clone()

template<class POINT , class TRANSFORM >

NonlinearFactor::shared_ptr gtsam::ReferenceFrameFactor< POINT, TRANSFORM >::clone ( ) const

inlineoverridevirtual

Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses

By default, throws exception if subclass does not implement the function.

Reimplemented from gtsam::NonlinearFactor.

Definition at line 95 of file ReferenceFrameFactor.h.

◆ evaluateError()

template<class POINT , class TRANSFORM >

Vector gtsam::ReferenceFrameFactor< POINT, TRANSFORM >::evaluateError	(	const Point &	global,
		const Transform &	trans,
		const Point &	local,
		OptionalMatrixType	Dforeign,
		OptionalMatrixType	Dtrans,
		OptionalMatrixType	Dlocal
	)		const

inlineoverride

Combined cost and derivative function using boost::optional

Definition at line 100 of file ReferenceFrameFactor.h.

◆ global_key()

template<class POINT , class TRANSFORM >

Key gtsam::ReferenceFrameFactor< POINT, TRANSFORM >::global_key ( ) const

inline

Definition at line 120 of file ReferenceFrameFactor.h.

◆ local_key()

template<class POINT , class TRANSFORM >

Key gtsam::ReferenceFrameFactor< POINT, TRANSFORM >::local_key ( ) const

inline

Definition at line 122 of file ReferenceFrameFactor.h.

◆ print()

template<class POINT , class TRANSFORM >

void gtsam::ReferenceFrameFactor< POINT, TRANSFORM >::print	(	const std::string &	s = `""`,
		const gtsam::KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

Print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 110 of file ReferenceFrameFactor.h.

◆ transform_key()

template<class POINT , class TRANSFORM >

Key gtsam::ReferenceFrameFactor< POINT, TRANSFORM >::transform_key ( ) const

inline

Definition at line 121 of file ReferenceFrameFactor.h.

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

ReferenceFrameFactor.h

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<class POINT, class TRANSFORM> class gtsam::ReferenceFrameFactor< POINT, TRANSFORM >

Member Typedef Documentation

◆ Base

◆ Point

◆ This

◆ Transform

Constructor & Destructor Documentation

◆ ReferenceFrameFactor() [1/4]

◆ ReferenceFrameFactor() [2/4]

◆ ReferenceFrameFactor() [3/4]

◆ ReferenceFrameFactor() [4/4]

◆ ~ReferenceFrameFactor()

Member Function Documentation

◆ clone()

◆ evaluateError()

◆ global_key()

◆ local_key()

◆ print()

◆ transform_key()

template<class POINT, class TRANSFORM>
class gtsam::ReferenceFrameFactor< POINT, TRANSFORM >