#include <NoiseModel.h>

Inheritance diagram for gtsam::noiseModel::Unit:

[legend]

Public Types
typedef std::shared_ptr< Unit >	shared_ptr

Public Types inherited from gtsam::noiseModel::Isotropic
typedef std::shared_ptr< Isotropic >	shared_ptr

Public Types inherited from gtsam::noiseModel::Diagonal
typedef std::shared_ptr< Diagonal >	shared_ptr

Public Types inherited from gtsam::noiseModel::Gaussian
typedef std::shared_ptr< Gaussian >	shared_ptr

Public Types inherited from gtsam::noiseModel::Base
typedef std::shared_ptr< Base >	shared_ptr

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

void	print (const std::string &name) const override

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

	Unit (size_t dim=1)

Vector	unwhiten (const Vector &v) const override
	Unwhiten an error vector. More...

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

void	unwhitenInPlace (Vector &) const override

Matrix	Whiten (const Matrix &H) const override

Vector	whiten (const Vector &v) const override
	Whiten an error vector. More...

void	WhitenInPlace (Eigen::Block< Matrix >) const override

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

void	WhitenInPlace (Matrix &) const override

void	whitenInPlace (Vector &) const override

	~Unit () override

Public Member Functions inherited from gtsam::noiseModel::Isotropic
	Isotropic ()

double	sigma () const

	~Isotropic () override

Public Member Functions inherited from gtsam::noiseModel::Diagonal
	Diagonal ()

double	invsigma (size_t i) const

const Vector &	invsigmas () const

double	precision (size_t i) const

const Vector &	precisions () const

Matrix	R () const override

double	sigma (size_t i) const

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

	~Diagonal () override

Public Member Functions inherited from gtsam::noiseModel::Gaussian
virtual Matrix	covariance () const
	Compute covariance matrix. More...

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

	Gaussian (size_t dim=1, const std::optional< Matrix > &sqrt_information={})

virtual Matrix	information () const
	Compute information matrix. More...

double	logDeterminant () const
	Compute the log of \|Σ\|. More...

double	negLogConstant () const
	Compute the negative log of the normalization constant for a Gaussian noise model k = 1/\sqrt(\|2πΣ\|). More...

virtual std::shared_ptr< Diagonal >	QR (Matrix &Ab) const

void	WhitenSystem (Matrix &A, Vector &b) const override

void	WhitenSystem (Matrix &A1, Matrix &A2, Matrix &A3, Vector &b) const override

void	WhitenSystem (Matrix &A1, Matrix &A2, Vector &b) const override

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

	~Gaussian () override

Public Member Functions inherited from gtsam::noiseModel::Base
	Base (size_t dim=1)
	primary constructor More...

size_t	dim () const
	Dimensionality. More...

virtual bool	isConstrained () const
	true if a constrained 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 Vector	unweightedWhiten (const Vector &v) const

virtual double	weight (const Vector &v) const

virtual	~Base ()

Static Public Member Functions
static shared_ptr	Create (size_t dim)

Static Public Member Functions inherited from gtsam::noiseModel::Isotropic
static shared_ptr	Precision (size_t dim, double precision, bool smart=true)

static shared_ptr	Sigma (size_t dim, double sigma, bool smart=true)

static shared_ptr	Variance (size_t dim, double variance, bool smart=true)

Static Public Member Functions inherited from gtsam::noiseModel::Diagonal
static shared_ptr	Precisions (const Vector &precisions, bool smart=true)

static shared_ptr	Sigmas (const Vector &sigmas, bool smart=true)

static shared_ptr	Variances (const Vector &variances, bool smart=true)

Static Public Member Functions inherited from gtsam::noiseModel::Gaussian
static shared_ptr	Covariance (const Matrix &covariance, bool smart=true)

static shared_ptr	Information (const Matrix &M, bool smart=true)

static shared_ptr	SqrtInformation (const Matrix &R, bool smart=true)

Protected Member Functions
virtual double	logDetR () const override
	Compute the log of \|R\|. Used for computing log(\|Σ\|) More...

Protected Member Functions inherited from gtsam::noiseModel::Isotropic
	Isotropic (size_t dim, double sigma)

Protected Member Functions inherited from gtsam::noiseModel::Diagonal
	Diagonal (const Vector &sigmas)

Additional Inherited Members
Protected Attributes inherited from gtsam::noiseModel::Isotropic
double	invsigma_

double	sigma_

Protected Attributes inherited from gtsam::noiseModel::Diagonal
Vector	invsigmas_

Vector	precisions_

Vector	sigmas_

Protected Attributes inherited from gtsam::noiseModel::Gaussian
std::optional< Matrix >	sqrt_information_

Protected Attributes inherited from gtsam::noiseModel::Base
size_t	dim_

Detailed Description

Unit: i.i.d. unit-variance noise on all m dimensions.

Definition at line 614 of file NoiseModel.h.

Member Typedef Documentation

◆ shared_ptr

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

Definition at line 621 of file NoiseModel.h.

Constructor & Destructor Documentation

◆ Unit()

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

inline

constructor for serialization

Definition at line 624 of file NoiseModel.h.

◆ ~Unit()

gtsam::noiseModel::Unit::~Unit ( )

inlineoverride

Definition at line 626 of file NoiseModel.h.

Member Function Documentation

◆ Create()

static shared_ptr gtsam::noiseModel::Unit::Create ( size_t dim )

inlinestatic

Create a unit covariance noise model

Definition at line 631 of file NoiseModel.h.

◆ isUnit()

bool gtsam::noiseModel::Unit::isUnit ( ) const

inlineoverridevirtual

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

Reimplemented from gtsam::noiseModel::Base.

Definition at line 636 of file NoiseModel.h.

◆ logDetR()

double gtsam::noiseModel::Unit::logDetR ( ) const

overrideprotectedvirtual

Compute the log of |R|. Used for computing log(|Σ|)

Reimplemented from gtsam::noiseModel::Isotropic.

Definition at line 692 of file NoiseModel.cpp.

◆ print()

void gtsam::noiseModel::Unit::print ( const std::string & name ) const

overridevirtual

Reimplemented from gtsam::noiseModel::Isotropic.

Definition at line 682 of file NoiseModel.cpp.

◆ squaredMahalanobisDistance()

double gtsam::noiseModel::Unit::squaredMahalanobisDistance ( const Vector & v ) const

overridevirtual

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

Reimplemented from gtsam::noiseModel::Isotropic.

Definition at line 687 of file NoiseModel.cpp.

◆ unwhiten()

Vector gtsam::noiseModel::Unit::unwhiten ( const Vector & v ) const

inlineoverridevirtual

Unwhiten an error vector.

Reimplemented from gtsam::noiseModel::Isotropic.

Definition at line 641 of file NoiseModel.h.

◆ unwhitenInPlace() [1/2]

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

inlineoverridevirtual

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

Reimplemented from gtsam::noiseModel::Base.

Definition at line 648 of file NoiseModel.h.

◆ unwhitenInPlace() [2/2]

void gtsam::noiseModel::Unit::unwhitenInPlace ( Vector & v ) const

inlineoverridevirtual

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

Reimplemented from gtsam::noiseModel::Base.

Definition at line 646 of file NoiseModel.h.

◆ Whiten()

Matrix gtsam::noiseModel::Unit::Whiten ( const Matrix & H ) const

inlineoverridevirtual

Multiply a derivative with R (derivative of whiten) Equivalent to whitening each column of the input matrix.

Reimplemented from gtsam::noiseModel::Isotropic.

Definition at line 642 of file NoiseModel.h.

◆ whiten()

Vector gtsam::noiseModel::Unit::whiten ( const Vector & v ) const

inlineoverridevirtual

Whiten an error vector.

Reimplemented from gtsam::noiseModel::Isotropic.

Definition at line 640 of file NoiseModel.h.

◆ WhitenInPlace() [1/2]

void gtsam::noiseModel::Unit::WhitenInPlace ( Eigen::Block< Matrix > H ) const

inlineoverridevirtual

In-place version

Reimplemented from gtsam::noiseModel::Isotropic.

Definition at line 644 of file NoiseModel.h.

◆ whitenInPlace() [1/2]

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

inlineoverridevirtual

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

Reimplemented from gtsam::noiseModel::Base.

Definition at line 647 of file NoiseModel.h.

◆ WhitenInPlace() [2/2]

void gtsam::noiseModel::Unit::WhitenInPlace ( Matrix & H ) const

inlineoverridevirtual

In-place version

Reimplemented from gtsam::noiseModel::Isotropic.

Definition at line 643 of file NoiseModel.h.

◆ whitenInPlace() [2/2]

void gtsam::noiseModel::Unit::whitenInPlace ( Vector & v ) const

inlineoverridevirtual

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

Reimplemented from gtsam::noiseModel::Isotropic.

Definition at line 645 of file NoiseModel.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ shared_ptr

Constructor & Destructor Documentation

◆ Unit()

◆ ~Unit()

Member Function Documentation

◆ Create()

◆ isUnit()

◆ logDetR()

◆ print()

◆ squaredMahalanobisDistance()

◆ unwhiten()

◆ unwhitenInPlace() [1/2]

◆ unwhitenInPlace() [2/2]

◆ Whiten()

◆ whiten()

◆ WhitenInPlace() [1/2]

◆ whitenInPlace() [1/2]

◆ WhitenInPlace() [2/2]

◆ whitenInPlace() [2/2]