#include <NoiseModel.h>

Inheritance diagram for gtsam::noiseModel::Base:

[legend]

Public Types
typedef std::shared_ptr< Base >	shared_ptr

Public Member Functions
	Base (size_t dim=1)
	primary constructor More...

size_t	dim () const
	Dimensionality. More...

virtual bool	equals (const Base &expected, double tol=1e-9) const =0

virtual bool	isConstrained () const
	true if a constrained noise model, saves slow/clumsy dynamic casting More...

virtual bool	isUnit () const
	true if a unit noise model, saves slow/clumsy dynamic casting More...

virtual double	loss (const double squared_distance) const
	loss function, input is Mahalanobis distance More...

virtual double	mahalanobisDistance (const Vector &v) const
	Mahalanobis distance. More...

virtual void	print (const std::string &name="") const =0

virtual Vector	sigmas () const
	Calculate standard deviations. More...

virtual double	squaredMahalanobisDistance (const Vector &v) const
	Squared Mahalanobis distance v'R'Rv = <Rv,R*v> More...

virtual Vector	unweightedWhiten (const Vector &v) const

virtual Vector	unwhiten (const Vector &v) const =0
	Unwhiten an error vector. More...

virtual void	unwhitenInPlace (Eigen::Block< Vector > &v) const

virtual void	unwhitenInPlace (Vector &v) const

virtual double	weight (const Vector &v) const

virtual Matrix	Whiten (const Matrix &H) const =0
	Whiten a matrix. More...

virtual Vector	whiten (const Vector &v) const =0
	Whiten an error vector. More...

virtual void	whitenInPlace (Eigen::Block< Vector > &v) const

virtual void	whitenInPlace (Vector &v) const

virtual void	WhitenSystem (Matrix &A, Vector &b) const =0

virtual void	WhitenSystem (Matrix &A1, Matrix &A2, Matrix &A3, Vector &b) const =0

virtual void	WhitenSystem (Matrix &A1, Matrix &A2, Vector &b) const =0

virtual void	WhitenSystem (std::vector< Matrix > &A, Vector &b) const =0

virtual	~Base ()

Protected Attributes
size_t	dim_

Detailed Description

noiseModel::Base is the abstract base class for all noise models.

Noise models must implement a 'whiten' function to normalize an error vector, and an 'unwhiten' function to unnormalize an error vector.

Definition at line 57 of file NoiseModel.h.

Member Typedef Documentation

◆ shared_ptr

typedef std::shared_ptr<Base> gtsam::noiseModel::Base::shared_ptr

Definition at line 60 of file NoiseModel.h.

Constructor & Destructor Documentation

◆ Base()

gtsam::noiseModel::Base::Base ( size_t dim = 1 )

inline

primary constructor

Parameters

dim	is the dimension of the model

Definition at line 69 of file NoiseModel.h.

◆ ~Base()

virtual gtsam::noiseModel::Base::~Base ( )

inlinevirtual

Definition at line 70 of file NoiseModel.h.

Member Function Documentation

◆ dim()

size_t gtsam::noiseModel::Base::dim ( ) const

inline

Dimensionality.

Definition at line 79 of file NoiseModel.h.

◆ equals()

virtual bool gtsam::noiseModel::Base::equals	(	const Base &	expected,
		double	tol = `1e-9`
	)		const

pure virtual

Implemented in gtsam::noiseModel::Robust, and gtsam::noiseModel::Gaussian.

◆ isConstrained()

virtual bool gtsam::noiseModel::Base::isConstrained ( ) const

inlinevirtual

true if a constrained noise model, saves slow/clumsy dynamic casting

Reimplemented in gtsam::noiseModel::Constrained.

Definition at line 73 of file NoiseModel.h.

◆ isUnit()

virtual bool gtsam::noiseModel::Base::isUnit ( ) const

inlinevirtual

true if a unit noise model, saves slow/clumsy dynamic casting

Reimplemented in gtsam::noiseModel::Unit.

Definition at line 76 of file NoiseModel.h.

◆ loss()

virtual double gtsam::noiseModel::Base::loss ( const double squared_distance ) const

inlinevirtual

loss function, input is Mahalanobis distance

Reimplemented in gtsam::noiseModel::Robust.

Definition at line 106 of file NoiseModel.h.

◆ mahalanobisDistance()

virtual double gtsam::noiseModel::Base::mahalanobisDistance ( const Vector & v ) const

inlinevirtual

Mahalanobis distance.

Definition at line 101 of file NoiseModel.h.

◆ print()

virtual void gtsam::noiseModel::Base::print ( const std::string & name = "" ) const

pure virtual

Implemented in gtsam::noiseModel::Robust, gtsam::noiseModel::Unit, gtsam::noiseModel::Isotropic, gtsam::noiseModel::Constrained, gtsam::noiseModel::Diagonal, and gtsam::noiseModel::Gaussian.

◆ sigmas()

Vector Base::sigmas ( ) const

virtual

Calculate standard deviations.

Reimplemented in gtsam::noiseModel::Diagonal, and gtsam::noiseModel::Gaussian.

Definition at line 72 of file NoiseModel.cpp.

◆ squaredMahalanobisDistance()

double Base::squaredMahalanobisDistance ( const Vector & v ) const

virtual

Squared Mahalanobis distance v'*R'*R*v = <R*v,R*v>

Reimplemented in gtsam::noiseModel::Robust, gtsam::noiseModel::Unit, gtsam::noiseModel::Isotropic, and gtsam::noiseModel::Constrained.

Definition at line 77 of file NoiseModel.cpp.

◆ unweightedWhiten()

virtual Vector gtsam::noiseModel::Base::unweightedWhiten ( const Vector & v ) const

inlinevirtual

Useful function for robust noise models to get the unweighted but whitened error

Reimplemented in gtsam::noiseModel::Robust.

Definition at line 136 of file NoiseModel.h.

◆ unwhiten()

virtual Vector gtsam::noiseModel::Base::unwhiten ( const Vector & v ) const

pure virtual

Unwhiten an error vector.

Implemented in gtsam::noiseModel::Unit, gtsam::noiseModel::Isotropic, gtsam::noiseModel::Diagonal, gtsam::noiseModel::Gaussian, and gtsam::noiseModel::Robust.

◆ unwhitenInPlace() [1/2]

virtual void gtsam::noiseModel::Base::unwhitenInPlace ( Eigen::Block< Vector > & v ) const

inlinevirtual

in-place unwhiten, override if can be done more efficiently

Reimplemented in gtsam::noiseModel::Unit.

Definition at line 131 of file NoiseModel.h.

◆ unwhitenInPlace() [2/2]

virtual void gtsam::noiseModel::Base::unwhitenInPlace ( Vector & v ) const

inlinevirtual

in-place unwhiten, override if can be done more efficiently

Reimplemented in gtsam::noiseModel::Unit.

Definition at line 121 of file NoiseModel.h.

◆ weight()

virtual double gtsam::noiseModel::Base::weight ( const Vector & v ) const

inlinevirtual

get the weight from the effective loss function on residual vector v

Reimplemented in gtsam::noiseModel::Robust.

Definition at line 141 of file NoiseModel.h.

◆ Whiten()

virtual Matrix gtsam::noiseModel::Base::Whiten ( const Matrix & H ) const

pure virtual

Whiten a matrix.

Implemented in gtsam::noiseModel::Unit, gtsam::noiseModel::Isotropic, gtsam::noiseModel::Constrained, gtsam::noiseModel::Diagonal, gtsam::noiseModel::Gaussian, and gtsam::noiseModel::Robust.

◆ whiten()

virtual Vector gtsam::noiseModel::Base::whiten ( const Vector & v ) const

pure virtual

Whiten an error vector.

Implemented in gtsam::noiseModel::Robust, gtsam::noiseModel::Unit, gtsam::noiseModel::Isotropic, gtsam::noiseModel::Constrained, gtsam::noiseModel::Diagonal, and gtsam::noiseModel::Gaussian.

◆ whitenInPlace() [1/2]

virtual void gtsam::noiseModel::Base::whitenInPlace ( Eigen::Block< Vector > & v ) const

inlinevirtual

in-place whiten, override if can be done more efficiently

Reimplemented in gtsam::noiseModel::Unit.

Definition at line 126 of file NoiseModel.h.

◆ whitenInPlace() [2/2]

virtual void gtsam::noiseModel::Base::whitenInPlace ( Vector & v ) const

inlinevirtual

in-place whiten, override if can be done more efficiently

Reimplemented in gtsam::noiseModel::Isotropic, and gtsam::noiseModel::Unit.

Definition at line 116 of file NoiseModel.h.

◆ WhitenSystem() [1/4]

virtual void gtsam::noiseModel::Base::WhitenSystem	(	Matrix &	A,
		Vector &	b
	)		const

pure virtual

Implemented in gtsam::noiseModel::Robust, and gtsam::noiseModel::Gaussian.

◆ WhitenSystem() [2/4]

virtual void gtsam::noiseModel::Base::WhitenSystem	(	Matrix &	A1,
		Matrix &	A2,
		Matrix &	A3,
		Vector &	b
	)		const

pure virtual

Implemented in gtsam::noiseModel::Robust, and gtsam::noiseModel::Gaussian.

◆ WhitenSystem() [3/4]

virtual void gtsam::noiseModel::Base::WhitenSystem	(	Matrix &	A1,
		Matrix &	A2,
		Vector &	b
	)		const

pure virtual

Implemented in gtsam::noiseModel::Robust, and gtsam::noiseModel::Gaussian.

◆ WhitenSystem() [4/4]

virtual void gtsam::noiseModel::Base::WhitenSystem	(	std::vector< Matrix > &	A,
		Vector &	b
	)		const

pure virtual

Implemented in gtsam::noiseModel::Robust, and gtsam::noiseModel::Gaussian.

Member Data Documentation

◆ dim_

size_t gtsam::noiseModel::Base::dim_

protected

Definition at line 64 of file NoiseModel.h.

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ shared_ptr

Constructor & Destructor Documentation

◆ Base()

◆ ~Base()

Member Function Documentation

◆ dim()

◆ equals()

◆ isConstrained()

◆ isUnit()

◆ loss()

◆ mahalanobisDistance()

◆ print()

◆ sigmas()

◆ squaredMahalanobisDistance()

◆ unweightedWhiten()

◆ unwhiten()

◆ unwhitenInPlace() [1/2]

◆ unwhitenInPlace() [2/2]

◆ weight()

◆ Whiten()

◆ whiten()

◆ whitenInPlace() [1/2]

◆ whitenInPlace() [2/2]

◆ WhitenSystem() [1/4]

◆ WhitenSystem() [2/4]

◆ WhitenSystem() [3/4]

◆ WhitenSystem() [4/4]

Member Data Documentation

◆ dim_