#include <simulated2DConstraints.h>
Public Types | |
typedef BoundingConstraint2< VALUE, VALUE > | Base |
Base class for factor. More... | |
typedef VALUE | Point |
Type of variable constrained. More... | |
typedef MaxDistanceConstraint< VALUE > | This |
This class for factor. More... | |
Public Types inherited from gtsam::BoundingConstraint2< VALUE, VALUE > | |
typedef NoiseModelFactorN< VALUE, VALUE > | Base |
typedef std::shared_ptr< BoundingConstraint2< VALUE, VALUE > > | shared_ptr |
typedef VALUE | X1 |
typedef VALUE | X2 |
Public Types inherited from gtsam::NoiseModelFactorN< VALUE, VALUE > | |
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... | |
Public Member Functions | |
gtsam::NonlinearFactor::shared_ptr | clone () const override |
MaxDistanceConstraint (Key key1, Key key2, double range_bound, double mu=1000.0) | |
double | value (const Point &x1, const Point &x2, OptionalMatrixType H1=OptionalNone, OptionalMatrixType H2=OptionalNone) const override |
~MaxDistanceConstraint () override | |
Public Member Functions inherited from gtsam::BoundingConstraint2< VALUE, VALUE > | |
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 |
~BoundingConstraint2 () override | |
Public Member Functions inherited from gtsam::NoiseModelFactorN< VALUE, VALUE > | |
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 | 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 () |
Additional Inherited Members | |
Public Attributes inherited from gtsam::BoundingConstraint2< VALUE, VALUE > | |
bool | isGreaterThan_ |
double | threshold_ |
Protected Types inherited from gtsam::NoiseModelFactorN< VALUE, VALUE > | |
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... | |
Binary inequality constraint forcing the range between points to be less than or equal to a bound
VALUES | is the variable set for the graph |
KEY | is the type of the keys for the variables constrained |
Definition at line 124 of file simulated2DConstraints.h.
typedef BoundingConstraint2<VALUE, VALUE> simulated2D::inequality_constraints::MaxDistanceConstraint< VALUE >::Base |
Base class for factor.
Definition at line 125 of file simulated2DConstraints.h.
typedef VALUE simulated2D::inequality_constraints::MaxDistanceConstraint< VALUE >::Point |
Type of variable constrained.
Definition at line 127 of file simulated2DConstraints.h.
typedef MaxDistanceConstraint<VALUE> simulated2D::inequality_constraints::MaxDistanceConstraint< VALUE >::This |
This class for factor.
Definition at line 126 of file simulated2DConstraints.h.
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inlineoverride |
Definition at line 129 of file simulated2DConstraints.h.
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inline |
Primary constructor for factor
key1 | is the first variable key |
key2 | is the second variable key |
range_bound | is the maximum range allowed between the variables |
mu | is the gain for the penalty function |
Definition at line 143 of file simulated2DConstraints.h.
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inlineoverridevirtual |
Reimplemented from gtsam::NonlinearFactor.
Definition at line 132 of file simulated2DConstraints.h.
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inlineoverridevirtual |
computes the range with derivatives
x1 | is the first variable value |
x2 | is the second variable value |
H1 | is an optional Jacobian in x1 |
H2 | is an optional Jacobian in x2 |
Implements gtsam::BoundingConstraint2< VALUE, VALUE >.
Definition at line 154 of file simulated2DConstraints.h.