#include <ShonanFactor.h>
Public Member Functions | |
Constructor | |
ShonanFactor (Key j1, Key j2, const Rot &R12, size_t p, const SharedNoiseModel &model=nullptr, const std::shared_ptr< Matrix > &G=nullptr) | |
Testable | |
void | print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
print with optional string More... | |
bool | equals (const NonlinearFactor &expected, double tol=1e-9) const override |
assert equality up to a tolerance More... | |
NoiseModelFactorN methods | |
Vector | evaluateError (const SOn &Q1, const SOn &Q2, OptionalMatrixType H1, OptionalMatrixType H2) const override |
Public Member Functions inherited from gtsam::NoiseModelFactorN< SOn, SOn > | |
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 |
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 | 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 () |
Private Types | |
using | Rot = typename std::conditional< d==2, Rot2, Rot3 >::type |
Private Member Functions | |
void | fillJacobians (const Matrix &M1, const Matrix &M2, OptionalMatrixType H1, OptionalMatrixType H2) const |
Calculate Jacobians if asked, Only implemented for d=2 and 3 in .cpp. More... | |
Private Attributes | |
std::shared_ptr< Matrix > | G_ |
matrix of vectorized generators More... | |
Matrix | M_ |
measured rotation between R1 and R2 More... | |
size_t | p_ |
size_t | pp_ |
dimensionality constants More... | |
Additional Inherited Members | |
Public Types inherited from gtsam::NoiseModelFactorN< SOn, SOn > | |
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... | |
Protected Types inherited from gtsam::NoiseModelFactorN< SOn, SOn > | |
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... | |
ShonanFactor is a BetweenFactor that moves in SO(p), but will land on the SO(d) sub-manifold of SO(p) at the global minimum. It projects the SO(p) matrices down to a Stiefel manifold of p*d matrices.
Definition at line 36 of file ShonanFactor.h.
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private |
Definition at line 42 of file ShonanFactor.h.
gtsam::ShonanFactor< d >::ShonanFactor | ( | Key | j1, |
Key | j2, | ||
const Rot & | R12, | ||
size_t | p, | ||
const SharedNoiseModel & | model = nullptr , |
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const std::shared_ptr< Matrix > & | G = nullptr |
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) |
Constructor. Note we convert to d*p-dimensional noise model. To save memory and mallocs, pass in the vectorized Lie algebra generators: G = std::make_shared<Matrix>(SOn::VectorizedGenerators(p));
Definition at line 35 of file ShonanFactor.cpp.
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overridevirtual |
assert equality up to a tolerance
Reimplemented from gtsam::NoiseModelFactor.
Definition at line 68 of file ShonanFactor.cpp.
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override |
Error is Frobenius norm between Q1*P*R12 and Q2*P, where P=[I_3x3;0] projects down from SO(p) to the Stiefel manifold of px3 matrices.
Definition at line 108 of file ShonanFactor.cpp.
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private |
Calculate Jacobians if asked, Only implemented for d=2 and 3 in .cpp.
Definition at line 77 of file ShonanFactor.cpp.
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overridevirtual |
print with optional string
Reimplemented from gtsam::NoiseModelFactor.
Definition at line 58 of file ShonanFactor.cpp.
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private |
matrix of vectorized generators
Definition at line 39 of file ShonanFactor.h.
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private |
measured rotation between R1 and R2
Definition at line 37 of file ShonanFactor.h.
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private |
Definition at line 38 of file ShonanFactor.h.
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private |
dimensionality constants
Definition at line 38 of file ShonanFactor.h.