Public Types | Public Member Functions | Protected Types | Protected Member Functions | Private Member Functions | Friends | List of all members
gtsam::NonlinearEquality2< VALUE > Class Template Reference

#include <NonlinearEquality.h>

Inheritance diagram for gtsam::NonlinearEquality2< VALUE >:
Inheritance graph
[legend]

Public Types

typedef boost::shared_ptr< NonlinearEquality2< VALUE > > shared_ptr
 
typedef VALUE X
 
- Public Types inherited from gtsam::NoiseModelFactor2< VALUE, VALUE >
typedef VALUE X1
 
typedef VALUE X2
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< Thisshared_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
 
Vector evaluateError (const X &x1, const X &x2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override
 
 NonlinearEquality2 (Key key1, Key key2, double mu=1000.0)
 TODO: comment. More...
 
 ~NonlinearEquality2 () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactor2< VALUE, VALUE >
Key key1 () const
 
Key key2 () const
 
 NoiseModelFactor2 ()
 
 NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2)
 
Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
 
 ~NoiseModelFactor2 () override
 
- 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
 
boost::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 
const SharedNoiseModelnoiseModel () 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
 
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)
 
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 KeyVectorkeys () 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...
 
KeyVectorkeys ()
 
iterator begin ()
 
iterator end ()
 

Protected Types

typedef NoiseModelFactor2< VALUE, VALUE > Base
 
typedef NonlinearEquality2< VALUE > This
 
- Protected Types inherited from gtsam::NoiseModelFactor2< VALUE, VALUE >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor2< VALUE, VALUE > This
 
- 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

 NonlinearEquality2 ()
 
- 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)
 
bool equals (const This &other, double tol=1e-9) const
 check equality More...
 

Private Member Functions

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

Friends

class boost::serialization::access
 

Additional Inherited Members

- 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 VALUE>
class gtsam::NonlinearEquality2< VALUE >

Simple binary equality constraint - this constraint forces two factors to be the same.

Definition at line 294 of file NonlinearEquality.h.

Member Typedef Documentation

template<class VALUE>
typedef NoiseModelFactor2<VALUE, VALUE> gtsam::NonlinearEquality2< VALUE >::Base
protected

Definition at line 299 of file NonlinearEquality.h.

template<class VALUE>
typedef boost::shared_ptr<NonlinearEquality2<VALUE> > gtsam::NonlinearEquality2< VALUE >::shared_ptr

Definition at line 310 of file NonlinearEquality.h.

template<class VALUE>
typedef NonlinearEquality2<VALUE> gtsam::NonlinearEquality2< VALUE >::This
protected

Definition at line 300 of file NonlinearEquality.h.

template<class VALUE>
typedef VALUE gtsam::NonlinearEquality2< VALUE >::X

Definition at line 296 of file NonlinearEquality.h.

Constructor & Destructor Documentation

template<class VALUE>
gtsam::NonlinearEquality2< VALUE >::NonlinearEquality2 ( )
inlineprotected

default constructor to allow for serialization

Definition at line 305 of file NonlinearEquality.h.

template<class VALUE>
gtsam::NonlinearEquality2< VALUE >::NonlinearEquality2 ( Key  key1,
Key  key2,
double  mu = 1000.0 
)
inline

TODO: comment.

Definition at line 313 of file NonlinearEquality.h.

template<class VALUE>
gtsam::NonlinearEquality2< VALUE >::~NonlinearEquality2 ( )
inlineoverride

Definition at line 316 of file NonlinearEquality.h.

Member Function Documentation

template<class VALUE>
gtsam::NonlinearFactor::shared_ptr gtsam::NonlinearEquality2< VALUE >::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 320 of file NonlinearEquality.h.

template<class VALUE>
Vector gtsam::NonlinearEquality2< VALUE >::evaluateError ( const X x1,
const X x2,
boost::optional< Matrix & >  H1 = boost::none,
boost::optional< Matrix & >  H2 = boost::none 
) const
inlineoverridevirtual

g(x) with optional derivative2

Implements gtsam::NoiseModelFactor2< VALUE, VALUE >.

Definition at line 326 of file NonlinearEquality.h.

template<class VALUE>
template<class ARCHIVE >
void gtsam::NonlinearEquality2< VALUE >::serialize ( ARCHIVE &  ar,
const unsigned  int 
)
inlineprivate

Definition at line 341 of file NonlinearEquality.h.

Friends And Related Function Documentation

template<class VALUE>
friend class boost::serialization::access
friend

Serialization function

Definition at line 339 of file NonlinearEquality.h.


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


gtsam
Author(s):
autogenerated on Sat May 8 2021 02:58:18