#include <BoundingConstraint.h>
Inheritance diagram for gtsam::BoundingConstraint2< VALUE1, VALUE2 >:
Public Types | |
| typedef NoiseModelFactorN< VALUE1, VALUE2 > | Base |
| typedef std::shared_ptr< BoundingConstraint2< VALUE1, VALUE2 > > | shared_ptr |
| typedef VALUE1 | X1 |
| typedef VALUE2 | X2 |
 Public Types inherited from gtsam::NoiseModelFactorN< VALUE1, VALUE2 > | |
| 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... | |
Public Member Functions | |
| bool | active (const Values &c) const override |
| BoundingConstraint2 (Key key1, Key key2, double threshold, bool isGreaterThan, double mu=1000.0) | |
| flag for greater/less than More... | |
| Vector | evaluateError (const X1 &x1, const X2 &x2, OptionalMatrixType H1, OptionalMatrixType H2) const override |
| bool | isGreaterThan () const |
| double | threshold () const |
| virtual double | value (const X1 &x1, const X2 &x2, OptionalMatrixType H1=OptionalNone, OptionalMatrixType H2=OptionalNone) const =0 |
| ~BoundingConstraint2 () override | |
| Public Member Functions inherited from gtsam::NoiseModelFactorN< VALUE1, VALUE2 > | |
| 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 |
| bool | equals (const NonlinearFactor &f, double tol=1e-9) 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) | |
| 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 | 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 () |
Public Attributes | |
| bool | isGreaterThan_ |
| double | threshold_ |
Additional Inherited Members | |
| Static Public Attributes inherited from gtsam::NoiseModelFactorN< VALUE1, VALUE2 > | |
| constexpr static auto | N |
| N is the number of variables (N-way factor) More... | |
| Protected Types inherited from gtsam::NoiseModelFactorN< VALUE1, VALUE2 > | |
| 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... | |
Detailed Description
template<class VALUE1, class VALUE2>
struct gtsam::BoundingConstraint2< VALUE1, VALUE2 >
Binary scalar inequality constraint, with a similar value() function to implement for specific systems
Definition at line 105 of file BoundingConstraint.h.
Member Typedef Documentation
◆ Base
template<class VALUE1 , class VALUE2 >
| typedef NoiseModelFactorN<VALUE1, VALUE2> gtsam::BoundingConstraint2< VALUE1, VALUE2 >::Base |
Definition at line 109 of file BoundingConstraint.h.
◆ shared_ptr
template<class VALUE1 , class VALUE2 >
| typedef std::shared_ptr<BoundingConstraint2<VALUE1, VALUE2> > gtsam::BoundingConstraint2< VALUE1, VALUE2 >::shared_ptr |
Definition at line 110 of file BoundingConstraint.h.
◆ X1
template<class VALUE1 , class VALUE2 >
| typedef VALUE1 gtsam::BoundingConstraint2< VALUE1, VALUE2 >::X1 |
Definition at line 106 of file BoundingConstraint.h.
◆ X2
template<class VALUE1 , class VALUE2 >
| typedef VALUE2 gtsam::BoundingConstraint2< VALUE1, VALUE2 >::X2 |
Definition at line 107 of file BoundingConstraint.h.
Constructor & Destructor Documentation
◆ BoundingConstraint2()
template<class VALUE1 , class VALUE2 >
|
inline |
flag for greater/less than
Definition at line 118 of file BoundingConstraint.h.
◆ ~BoundingConstraint2()
template<class VALUE1 , class VALUE2 >
|
inlineoverride |
Definition at line 123 of file BoundingConstraint.h.
Member Function Documentation
◆ active()
template<class VALUE1 , class VALUE2 >
|
inlineoverridevirtual |
active when constraint NOT met
Reimplemented from gtsam::NonlinearFactor.
Definition at line 137 of file BoundingConstraint.h.
◆ evaluateError()
template<class VALUE1 , class VALUE2 >
|
inlineoverride |
Definition at line 143 of file BoundingConstraint.h.
◆ isGreaterThan()
template<class VALUE1 , class VALUE2 >
|
inline |
Definition at line 126 of file BoundingConstraint.h.
◆ threshold()
template<class VALUE1 , class VALUE2 >
|
inline |
Definition at line 125 of file BoundingConstraint.h.
◆ value()
template<class VALUE1 , class VALUE2 >
|
pure virtual |
function producing a scalar value to compare to the threshold Must have optional argument for derivatives)
Implemented in simulated2D::inequality_constraints::MinDistanceConstraint< POSE, POINT >, and simulated2D::inequality_constraints::MaxDistanceConstraint< VALUE >.
Member Data Documentation
◆ isGreaterThan_
template<class VALUE1 , class VALUE2 >
| bool gtsam::BoundingConstraint2< VALUE1, VALUE2 >::isGreaterThan_ |
Definition at line 116 of file BoundingConstraint.h.
◆ threshold_
template<class VALUE1 , class VALUE2 >
| double gtsam::BoundingConstraint2< VALUE1, VALUE2 >::threshold_ |
Definition at line 115 of file BoundingConstraint.h.
The documentation for this struct was generated from the following file: