gtsam
nonlinear
nonlinearExceptions.h
Go to the documentation of this file.
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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#pragma once
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#include <exception>
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#include <
gtsam/inference/Key.h
>
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namespace
gtsam
{
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class
MarginalizeNonleafException
:
public
std::exception {
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Key
key_
;
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KeyFormatter
formatter_
;
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mutable
std::string
what_
;
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public
:
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MarginalizeNonleafException
(
Key
key
,
KeyFormatter
formatter
=
DefaultKeyFormatter
) noexcept :
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key_
(
key
),
formatter_
(
formatter
) {}
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virtual
~MarginalizeNonleafException
() noexcept {}
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Key
key
()
const
{
return
key_
; }
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const
char
*
what
() const noexcept
override
{
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if
(
what_
.empty())
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what_
=
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"\nRequested to marginalize out variable "
+
formatter_
(
key_
) +
", but this variable\n\
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is not a leaf. To make the variables you would like to marginalize be leaves,\n\
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their ordering should be constrained using the constrainedKeys argument to\n\
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ISAM2::update().\n"
;
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return
what_
.c_str();
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}
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};
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}
gtsam::MarginalizeNonleafException::what
const char * what() const noexcept override
Definition:
nonlinearExceptions.h:41
formatter
const KeyFormatter & formatter
Definition:
treeTraversal-inst.h:204
gtsam::MarginalizeNonleafException::key_
Key key_
Definition:
nonlinearExceptions.h:33
gtsam::MarginalizeNonleafException::what_
std::string what_
Definition:
nonlinearExceptions.h:35
gtsam::DefaultKeyFormatter
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
Definition:
Key.cpp:30
Key.h
gtsam::MarginalizeNonleafException::formatter_
KeyFormatter formatter_
Definition:
nonlinearExceptions.h:34
gtsam::KeyFormatter
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition:
Key.h:35
gtsam::MarginalizeNonleafException::key
Key key() const
Definition:
nonlinearExceptions.h:40
gtsam
traits
Definition:
SFMdata.h:40
gtsam::MarginalizeNonleafException::MarginalizeNonleafException
MarginalizeNonleafException(Key key, KeyFormatter formatter=DefaultKeyFormatter) noexcept
Definition:
nonlinearExceptions.h:37
gtsam::Key
std::uint64_t Key
Integer nonlinear key type.
Definition:
types.h:97
gtsam::MarginalizeNonleafException::~MarginalizeNonleafException
virtual ~MarginalizeNonleafException() noexcept
Definition:
nonlinearExceptions.h:39
gtsam::MarginalizeNonleafException
Definition:
nonlinearExceptions.h:32
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:33:50