#include <FunctorizedFactor.h>

Inheritance diagram for gtsam::FunctorizedFactor< R, T >:

[legend]

Public Member Functions
NonlinearFactor::shared_ptr	clone () const override

Vector	evaluateError (const T &params, boost::optional< Matrix & > H=boost::none) const override

	FunctorizedFactor ()

	FunctorizedFactor (Key key, const R &z, const SharedNoiseModel &model, const std::function< R(T, boost::optional< Matrix & >)> func)

	~FunctorizedFactor () override

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

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

Public Member Functions inherited from gtsam::NoiseModelFactor1< T >
	NoiseModelFactor1 ()

	NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1)

	~NoiseModelFactor1 () override

Key	key () const

Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const 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< 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

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 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 ()

Private Types
using	Base = NoiseModelFactor1< T >

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

Private Attributes
std::function< R(T, boost::optional< Matrix & >)>	func_
	functor instance More...

R	measured_
	value that is compared with functor return value More...

SharedNoiseModel	noiseModel_
	noise model More...

Friends
class	boost::serialization::access

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor1< T >
typedef T	X

Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< This >	shared_ptr

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...

Protected Types inherited from gtsam::NoiseModelFactor1< T >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor1< T >	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 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...

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<typename R, typename T>
class gtsam::FunctorizedFactor< R, T >

Factor which evaluates provided unary functor and uses the result to compute error with respect to the provided measurement.

Template parameters are

Parameters

R	The return type of the functor after evaluation.
T	The argument type for the functor.

Example: Key key = Symbol('X', 0); auto model = noiseModel::Isotropic::Sigma(9, 1);

/// Functor that takes a matrix and multiplies every element by m class MultiplyFunctor { double m_; ///< simple multiplier public: MultiplyFunctor(double m) : m_(m) {} Matrix operator()(const Matrix &X, OptionalJacobian<-1, -1> H = boost::none) const { if (H) *H = m_ * Matrix::Identity(X.rows()*X.cols(), X.rows()*X.cols()); return m_ * X; } };

Matrix measurement = Matrix::Identity(3, 3); double multiplier = 2.0;

FunctorizedFactor<Matrix, Matrix> factor(keyX, measurement, model, MultiplyFunctor(multiplier));

Definition at line 59 of file FunctorizedFactor.h.

Member Typedef Documentation

template<typename R, typename T>

using gtsam::FunctorizedFactor< R, T >::Base = NoiseModelFactor1<T>

private

Definition at line 61 of file FunctorizedFactor.h.

Constructor & Destructor Documentation

template<typename R, typename T>

gtsam::FunctorizedFactor< R, T >::FunctorizedFactor ( )

inline

default constructor - only use for serialization

Definition at line 69 of file FunctorizedFactor.h.

template<typename R, typename T>

gtsam::FunctorizedFactor< R, T >::FunctorizedFactor	(	Key	key,
		const R &	z,
		const SharedNoiseModel &	model,
		const std::function< R(T, boost::optional< Matrix & >)>	func
	)

inline

Construct with given x and the parameters of the basis

Parameters

key	Factor key
z	Measurement object of same type as that returned by functor
model	Noise model
func	The instance of the functor object

Definition at line 78 of file FunctorizedFactor.h.

template<typename R, typename T>

gtsam::FunctorizedFactor< R, T >::~FunctorizedFactor ( )

inlineoverride

Definition at line 82 of file FunctorizedFactor.h.

Member Function Documentation

template<typename R, typename T>

NonlinearFactor::shared_ptr gtsam::FunctorizedFactor< R, T >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 85 of file FunctorizedFactor.h.

template<typename R, typename T>

bool gtsam::FunctorizedFactor< R, T >::equals	(	const NonlinearFactor &	f,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

Check if two factors are equal

Reimplemented from gtsam::NonlinearFactor.

Definition at line 110 of file FunctorizedFactor.h.

template<typename R, typename T>

Vector gtsam::FunctorizedFactor< R, T >::evaluateError	(	const T &	x,
		boost::optional< Matrix & >	H = `boost::none`
	)		const

inlineoverridevirtual

Override this method to finish implementing a unary factor. If the optional Matrix reference argument is specified, it should compute both the function evaluation and its derivative in X.

Implements gtsam::NoiseModelFactor1< T >.

Definition at line 90 of file FunctorizedFactor.h.

template<typename R, typename T>

void gtsam::FunctorizedFactor< R, T >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 99 of file FunctorizedFactor.h.

template<typename R, typename T>

template<class ARCHIVE >

void gtsam::FunctorizedFactor< R, T >::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 122 of file FunctorizedFactor.h.

Friends And Related Function Documentation

template<typename R, typename T>

friend class boost::serialization::access

friend

Serialization function

Definition at line 120 of file FunctorizedFactor.h.

Member Data Documentation

template<typename R, typename T>

std::function<R(T, boost::optional<Matrix &>)> gtsam::FunctorizedFactor< R, T >::func_

private

functor instance

Definition at line 65 of file FunctorizedFactor.h.

template<typename R, typename T>

R gtsam::FunctorizedFactor< R, T >::measured_

private

value that is compared with functor return value

Definition at line 63 of file FunctorizedFactor.h.

template<typename R, typename T>

SharedNoiseModel gtsam::FunctorizedFactor< R, T >::noiseModel_

private

noise model

Definition at line 64 of file FunctorizedFactor.h.

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

FunctorizedFactor.h

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

template<typename R, typename T> class gtsam::FunctorizedFactor< R, T >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<typename R, typename T>
class gtsam::FunctorizedFactor< R, T >