#include <LinearizedFactor.h>

Inheritance diagram for gtsam::LinearizedHessianFactor:

Public Types
typedef LinearizedGaussianFactor	Base

typedef SymmetricBlockMatrix::Block	Block
	A block from the Hessian matrix. More...

typedef SymmetricBlockMatrix::Block::ColXpr	Column
	A column containing the linear term h. More...

typedef SymmetricBlockMatrix::constBlock	constBlock
	A block from the Hessian matrix (const version) More...

typedef SymmetricBlockMatrix::constBlock::ColXpr	constColumn
	A column containing the linear term h (const version) More...

typedef boost::shared_ptr< LinearizedHessianFactor >	shared_ptr

typedef LinearizedHessianFactor	This

Public Types inherited from gtsam::LinearizedGaussianFactor
typedef NonlinearFactor	Base

typedef boost::shared_ptr< LinearizedGaussianFactor >	shared_ptr

typedef LinearizedGaussianFactor	This

Public Types inherited from gtsam::NonlinearFactor
typedef boost::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

double	constantTerm () const

size_t	dim () const override

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

double	error (const Values &c) const override

boost::shared_ptr< GaussianFactor >	linearize (const Values &c) const override

	LinearizedHessianFactor ()

	LinearizedHessianFactor (const HessianFactor::shared_ptr &hessian, const Values &lin_points)

constColumn	linearTerm (const_iterator j) const

constColumn	linearTerm () const

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

Matrix	squaredTerm (const_iterator j1, const_iterator j2) const

Eigen::SelfAdjointView< constBlock, Eigen::Upper >	squaredTerm () const

	~LinearizedHessianFactor () override

Public Member Functions inherited from gtsam::LinearizedGaussianFactor
const Values &	linearizationPoint () const

	LinearizedGaussianFactor ()

	LinearizedGaussianFactor (const GaussianFactor::shared_ptr &gaussian, const Values &lin_points)

	~LinearizedGaussianFactor () override

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)

virtual	~NonlinearFactor ()

virtual bool	active (const Values &) const

shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const

shared_ptr	rekey (const KeyVector &new_keys) const

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor. 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...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Protected Attributes
SymmetricBlockMatrix	info_

Protected Attributes inherited from gtsam::LinearizedGaussianFactor
Values	lin_points_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Private Member Functions
template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Friends
class	boost::serialization::access

Additional Inherited Members
Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

Protected Member Functions inherited from gtsam::Factor
	Factor ()

template<typename CONTAINER >
	Factor (const CONTAINER &keys)

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)

bool	equals (const This &other, double tol=1e-9) const
	check equality More...

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)

Detailed Description

A factor that takes a linear, Hessian factor and inserts it into a nonlinear graph.

Definition at line 168 of file LinearizedFactor.h.

Member Typedef Documentation

typedef LinearizedGaussianFactor gtsam::LinearizedHessianFactor::Base

base type

Definition at line 172 of file LinearizedFactor.h.

typedef SymmetricBlockMatrix::Block gtsam::LinearizedHessianFactor::Block

A block from the Hessian matrix.

hessian block data types

Definition at line 179 of file LinearizedFactor.h.

typedef SymmetricBlockMatrix::Block::ColXpr gtsam::LinearizedHessianFactor::Column

A column containing the linear term h.

Definition at line 182 of file LinearizedFactor.h.

typedef SymmetricBlockMatrix::constBlock gtsam::LinearizedHessianFactor::constBlock

A block from the Hessian matrix (const version)

Definition at line 180 of file LinearizedFactor.h.

typedef SymmetricBlockMatrix::constBlock::ColXpr gtsam::LinearizedHessianFactor::constColumn

A column containing the linear term h (const version)

Definition at line 183 of file LinearizedFactor.h.

typedef boost::shared_ptr<LinearizedHessianFactor> gtsam::LinearizedHessianFactor::shared_ptr

shared pointer for convenience

Definition at line 176 of file LinearizedFactor.h.

typedef LinearizedHessianFactor gtsam::LinearizedHessianFactor::This

Definition at line 173 of file LinearizedFactor.h.

Constructor & Destructor Documentation

gtsam::LinearizedHessianFactor::LinearizedHessianFactor ( )

default constructor for serialization

Definition at line 136 of file LinearizedFactor.cpp.

gtsam::LinearizedHessianFactor::LinearizedHessianFactor	(	const HessianFactor::shared_ptr &	hessian,
		const Values &	lin_points
	)

Use this constructor with the ordering used to linearize the graph

Parameters

hessian	A hessian factor
lin_points	The linearization points for, at least, the variables used by this factor

Definition at line 140 of file LinearizedFactor.cpp.

gtsam::LinearizedHessianFactor::~LinearizedHessianFactor ( )

inlineoverride

Definition at line 202 of file LinearizedFactor.h.

Member Function Documentation

gtsam::NonlinearFactor::shared_ptr gtsam::LinearizedHessianFactor::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 205 of file LinearizedFactor.h.

double gtsam::LinearizedHessianFactor::constantTerm ( ) const

inline

Return the constant term $ f $ as described above

Returns: The constant term

Definition at line 220 of file LinearizedFactor.h.

size_t gtsam::LinearizedHessianFactor::dim ( ) const

inlineoverridevirtual

get the dimension of the factor (number of rows on linearization)

Implements gtsam::NonlinearFactor.

Definition at line 264 of file LinearizedFactor.h.

bool gtsam::LinearizedHessianFactor::equals	(	const NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

overridevirtual

equals function with optional tolerance

Reimplemented from gtsam::NonlinearFactor.

Definition at line 160 of file LinearizedFactor.cpp.

double gtsam::LinearizedHessianFactor::error ( const Values & c ) const

overridevirtual

Calculate the error of the factor

Implements gtsam::NonlinearFactor.

Definition at line 179 of file LinearizedFactor.cpp.

boost::shared_ptr< GaussianFactor > gtsam::LinearizedHessianFactor::linearize ( const Values & c ) const

overridevirtual

linearize to a GaussianFactor Reimplemented from NoiseModelFactor to directly copy out the matrices and only update the RHS b with an updated residual

Implements gtsam::NonlinearFactor.

Definition at line 202 of file LinearizedFactor.cpp.

constColumn gtsam::LinearizedHessianFactor::linearTerm ( const_iterator j ) const

inline

Return the part of linear term $ g $ as described above corresponding to the requested variable.

Parameters

j	Which block row to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor.

Returns: The linear term

Definition at line 229 of file LinearizedFactor.h.

constColumn gtsam::LinearizedHessianFactor::linearTerm ( ) const

inline

Return the complete linear term $ g $ as described above.

Returns: The linear term

Definition at line 235 of file LinearizedFactor.h.

void gtsam::LinearizedHessianFactor::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

overridevirtual

print function

Reimplemented from gtsam::NonlinearFactor.

Definition at line 145 of file LinearizedFactor.cpp.

template<class ARCHIVE >

void gtsam::LinearizedHessianFactor::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 280 of file LinearizedFactor.h.

Matrix gtsam::LinearizedHessianFactor::squaredTerm	(	const_iterator	j1,
		const_iterator	j2
	)		const

inline

Return a copy of the block at (j1,j2) of the <emph>upper-triangular part</emph> of the squared term $ H $ , no data is copied. See HessianFactor class documentation above to explain that only the upper-triangular part of the information matrix is stored and returned by this function.

Parameters

j1	Which block row to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor.
j2	Which block column to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor.

Returns: A copy of the requested block.

Definition at line 249 of file LinearizedFactor.h.

Eigen::SelfAdjointView<constBlock, Eigen::Upper> gtsam::LinearizedHessianFactor::squaredTerm ( ) const

inline

Return the <emph>upper-triangular part</emph> of the full squared term, as described above. See HessianFactor class documentation above to explain that only the upper-triangular part of the information matrix is stored and returned by this function.

Definition at line 259 of file LinearizedFactor.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 278 of file LinearizedFactor.h.

Member Data Documentation

SymmetricBlockMatrix gtsam::LinearizedHessianFactor::info_

protected

The block view of the full information matrix, s.t. the quadratic error is 0.5*[x -1]'H[x -1]

Definition at line 187 of file LinearizedFactor.h.

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

Public Types

Public Member Functions

Protected Attributes

Private Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation