#include <NonlinearInequalityConstraint.h>

Inheritance diagram for gtsam::ScalarExpressionInequalityConstraint:

[legend]

Public Types
typedef NonlinearInequalityConstraint	Base

typedef std::shared_ptr< This >	shared_ptr

typedef ScalarExpressionInequalityConstraint	This

Public Types inherited from gtsam::NonlinearInequalityConstraint
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
gtsam::NonlinearFactor::shared_ptr	clone () const override

NonlinearEqualityConstraint::shared_ptr	createEqualityConstraint () const override

const Double_ &	expression () const

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

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

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

	ScalarExpressionInequalityConstraint (const Double_ &expression, const double &sigma)
	Constructor. More...

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

Public Member Functions inherited from gtsam::NonlinearInequalityConstraint
virtual bool	active (const Values &x) const override

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

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

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	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 ()

Static Public Member Functions
static ScalarExpressionInequalityConstraint::shared_ptr	GeqZero (const Double_ &expression, const double &sigma)

static ScalarExpressionInequalityConstraint::shared_ptr	LeqZero (const Double_ &expression, const double &sigma)

Protected Attributes
FastVector< int >	dims_

Double_	expression_

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

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)

Detailed Description

Inequality constraint that force g(x) <= 0, where g(x) is a scalar-valued nonlinear function.

Definition at line 78 of file NonlinearInequalityConstraint.h.

Member Typedef Documentation

◆ Base

typedef NonlinearInequalityConstraint gtsam::ScalarExpressionInequalityConstraint::Base

Definition at line 80 of file NonlinearInequalityConstraint.h.

◆ shared_ptr

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

Definition at line 82 of file NonlinearInequalityConstraint.h.

◆ This

typedef ScalarExpressionInequalityConstraint gtsam::ScalarExpressionInequalityConstraint::This

Definition at line 81 of file NonlinearInequalityConstraint.h.

Constructor & Destructor Documentation

◆ ScalarExpressionInequalityConstraint()

gtsam::ScalarExpressionInequalityConstraint::ScalarExpressionInequalityConstraint	(	const Double_ &	expression,
		const double &	sigma
	)

Constructor.

Parameters

expression	expression representing g(x) (or -g(x) for GeqZero).
sigma	scalar representing sigma.

Definition at line 72 of file NonlinearInequalityConstraint.cpp.

Member Function Documentation

◆ clone()

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

inlineoverridevirtual

return a deep copy of this factor.

Reimplemented from gtsam::NonlinearFactor.

Definition at line 126 of file NonlinearInequalityConstraint.h.

◆ createEqualityConstraint()

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

overridevirtual

Equality constraint representing g(x)/sigma = 0.

Reimplemented from gtsam::NonlinearInequalityConstraint.

Definition at line 104 of file NonlinearInequalityConstraint.cpp.

◆ expression()

const Double_& gtsam::ScalarExpressionInequalityConstraint::expression ( ) const

inline

Return expression g(x), or -g(x) for objects constructed from GeqZero.

Definition at line 123 of file NonlinearInequalityConstraint.h.

◆ GeqZero()

ScalarExpressionInequalityConstraint::shared_ptr gtsam::ScalarExpressionInequalityConstraint::GeqZero	(	const Double_ &	expression,
		const double &	sigma
	)

static

Create an inequality constraint g(x)/sigma >= 0, internally represented as -g(x)/sigma <= 0.

Definition at line 79 of file NonlinearInequalityConstraint.cpp.

◆ LeqZero()

ScalarExpressionInequalityConstraint::shared_ptr gtsam::ScalarExpressionInequalityConstraint::LeqZero	(	const Double_ &	expression,
		const double &	sigma
	)

static

Create an inequality constraint g(x)/sigma <= 0.

Definition at line 86 of file NonlinearInequalityConstraint.cpp.

◆ penaltyFactor()

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

overridevirtual

Penalty function 0.5*mu*||ramp(g(x)/sigma||^2.

Reimplemented from gtsam::NonlinearConstraint.

Definition at line 110 of file NonlinearInequalityConstraint.cpp.

◆ penaltyFactorCustom()

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