#include <NonlinearEquality.h>

Inheritance diagram for gtsam::NonlinearEquality1< VALUE >:

[legend]

Public Types
typedef std::shared_ptr< NonlinearEquality1< VALUE > >	shared_ptr
	fixed value for variable More...

typedef VALUE	X

Public Types inherited from gtsam::NonlinearEqualityConstraint
typedef NonlinearConstraint	Base

typedef NonlinearFactor	Base

typedef std::shared_ptr< This >	shared_ptr

typedef NonlinearEqualityConstraint	This

Public Types inherited from gtsam::NonlinearConstraint
typedef NoiseModelFactor	Base

typedef NonlinearFactor	Base

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

Vector	evaluateError (const X &x1, OptionalMatrixType H=nullptr) const
	g(x) with optional derivative More...

Key	key () const

	NonlinearEquality1 (const X &value, Key key, double mu=1000.0)

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

Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override

	~NonlinearEquality1 () override

Public Member Functions inherited from gtsam::NonlinearEqualityConstraint
virtual	~NonlinearEqualityConstraint ()

Public Member Functions inherited from gtsam::NonlinearConstraint
double	error (const HybridValues &c) const override

virtual double	error (const Values &c) const

virtual bool	feasible (const Values &x, const double tolerance=1e-5) const

virtual NoiseModelFactor::shared_ptr	penaltyFactor (const double mu=1.0) const

const Vector	sigmas () const

virtual std::vector< Matrix >	unwhitenedHessian (const Values &x) const

virtual double	violation (const Values &x) const

virtual	~NonlinearConstraint ()

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 HybridValues &c) const override

virtual double	error (const Values &c) const

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 bool	active (const Values &) 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 ()

Protected Types
typedef NonlinearEqualityConstraint	Base

typedef NonlinearEquality1< 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
	NonlinearEquality1 ()
	Default constructor to allow for serialization. More...

Protected Member Functions inherited from gtsam::NonlinearConstraint
SharedDiagonal	penaltyNoise (const double mu) const

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)

Protected Attributes
X	value_

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Additional Inherited Members
Static Protected Member Functions inherited from gtsam::NonlinearConstraint
static SharedNoiseModel	constrainedNoise (const Vector &sigmas)

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

template<class VALUE>
class gtsam::NonlinearEquality1< VALUE >

Simple unary equality constraint - fixes a value for a variable

Definition at line 220 of file NonlinearEquality.h.

Member Typedef Documentation

◆ Base

template<class VALUE >

typedef NonlinearEqualityConstraint gtsam::NonlinearEquality1< VALUE >::Base

protected

Definition at line 226 of file NonlinearEquality.h.

◆ shared_ptr

template<class VALUE >

typedef std::shared_ptr<NonlinearEquality1<VALUE> > gtsam::NonlinearEquality1< VALUE >::shared_ptr

fixed value for variable

Definition at line 240 of file NonlinearEquality.h.

◆ This

template<class VALUE >

typedef NonlinearEquality1<VALUE> gtsam::NonlinearEquality1< VALUE >::This

protected

Definition at line 227 of file NonlinearEquality.h.

◆ X

template<class VALUE >

typedef VALUE gtsam::NonlinearEquality1< VALUE >::X

Definition at line 223 of file NonlinearEquality.h.

Constructor & Destructor Documentation

◆ NonlinearEquality1() [1/2]

template<class VALUE >

gtsam::NonlinearEquality1< VALUE >::NonlinearEquality1 ( )

inlineprotected

Default constructor to allow for serialization.

Definition at line 230 of file NonlinearEquality.h.

◆ NonlinearEquality1() [2/2]

template<class VALUE >

gtsam::NonlinearEquality1< VALUE >::NonlinearEquality1	(	const X &	value,
		Key	key,
		double	mu = `1000.0`
	)

inline

Constructor

Parameters

value	feasible value that values(key) shouild be equal to
key	the key for the unknown variable to be constrained
mu	a parameter which really turns this into a strong prior

Definition at line 248 of file NonlinearEquality.h.

◆ ~NonlinearEquality1()

template<class VALUE >

gtsam::NonlinearEquality1< VALUE >::~NonlinearEquality1 ( )

inlineoverride

Definition at line 254 of file NonlinearEquality.h.

Member Function Documentation

◆ clone()

template<class VALUE >

gtsam::NonlinearFactor::shared_ptr gtsam::NonlinearEquality1< VALUE >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 258 of file NonlinearEquality.h.

◆ evaluateError()

template<class VALUE >

Vector gtsam::NonlinearEquality1< VALUE >::evaluateError	(	const X &	x1,
		OptionalMatrixType	H = `nullptr`
	)		const

inline

g(x) with optional derivative

Definition at line 266 of file NonlinearEquality.h.

◆ key()

template<class VALUE >

Key gtsam::NonlinearEquality1< VALUE >::key ( ) const

inline

Definition at line 263 of file NonlinearEquality.h.

◆ print()

template<class VALUE >

void gtsam::NonlinearEquality1< VALUE >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

Print.

Reimplemented from gtsam::Factor.

Definition at line 283 of file NonlinearEquality.h.

◆ unwhitenedError()

template<class VALUE >

Vector gtsam::NonlinearEquality1< VALUE >::unwhitenedError	(	const Values &	x,
		OptionalMatrixVecType	H = `nullptr`
	)		const

inlineoverridevirtual

Error function without the NoiseModel, $ z-h(x) $ . Override this method to finish implementing an N-way factor. If the optional arguments is specified, it should compute both the function evaluation and its derivative(s) in H.

Implements gtsam::NoiseModelFactor.

Definition at line 273 of file NonlinearEquality.h.

Member Data Documentation

◆ value_

template<class VALUE >

X gtsam::NonlinearEquality1< VALUE >::value_

protected

Definition at line 233 of file NonlinearEquality.h.

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

NonlinearEquality.h

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class VALUE> class gtsam::NonlinearEquality1< VALUE >

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

◆ X

Constructor & Destructor Documentation

◆ NonlinearEquality1() [1/2]

◆ NonlinearEquality1() [2/2]

◆ ~NonlinearEquality1()

Member Function Documentation

◆ clone()

◆ evaluateError()

◆ key()

◆ print()

◆ unwhitenedError()

Member Data Documentation

◆ value_

template<class VALUE>
class gtsam::NonlinearEquality1< VALUE >