#include <LinearizedFactor.h>

Inheritance diagram for gtsam::LinearizedJacobianFactor:

Public Types
typedef VerticalBlockMatrix::Block	ABlock

typedef LinearizedGaussianFactor	Base

typedef VerticalBlockMatrix::Block::ColXpr	BVector

typedef VerticalBlockMatrix::constBlock	constABlock

typedef VerticalBlockMatrix::constBlock::ConstColXpr	constBVector

typedef boost::shared_ptr< LinearizedJacobianFactor >	shared_ptr

typedef LinearizedJacobianFactor	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
const constABlock	A () const

const constABlock	A (Key key) const

const constBVector	b () const

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

size_t	dim () const override

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

double	error (const Values &c) const override

Vector	error_vector (const Values &c) const

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

	LinearizedJacobianFactor ()

	LinearizedJacobianFactor (const JacobianFactor::shared_ptr &jacobian, const Values &lin_points)

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

	~LinearizedJacobianFactor () 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
VerticalBlockMatrix	Ab_

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, Jacobian factor and inserts it into a nonlinear graph.

Definition at line 77 of file LinearizedFactor.h.

Member Typedef Documentation

typedef VerticalBlockMatrix::Block gtsam::LinearizedJacobianFactor::ABlock

Definition at line 87 of file LinearizedFactor.h.

typedef LinearizedGaussianFactor gtsam::LinearizedJacobianFactor::Base

base type

Definition at line 81 of file LinearizedFactor.h.

typedef VerticalBlockMatrix::Block::ColXpr gtsam::LinearizedJacobianFactor::BVector

Definition at line 89 of file LinearizedFactor.h.

typedef VerticalBlockMatrix::constBlock gtsam::LinearizedJacobianFactor::constABlock

Definition at line 88 of file LinearizedFactor.h.

typedef VerticalBlockMatrix::constBlock::ConstColXpr gtsam::LinearizedJacobianFactor::constBVector

Definition at line 90 of file LinearizedFactor.h.

typedef boost::shared_ptr<LinearizedJacobianFactor> gtsam::LinearizedJacobianFactor::shared_ptr

shared pointer for convenience

Definition at line 85 of file LinearizedFactor.h.

typedef LinearizedJacobianFactor gtsam::LinearizedJacobianFactor::This

Definition at line 82 of file LinearizedFactor.h.

Constructor & Destructor Documentation

gtsam::LinearizedJacobianFactor::LinearizedJacobianFactor ( )

default constructor for serialization

Definition at line 39 of file LinearizedFactor.cpp.

gtsam::LinearizedJacobianFactor::LinearizedJacobianFactor	(	const JacobianFactor::shared_ptr &	jacobian,
		const Values &	lin_points
	)

Parameters

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

Definition at line 43 of file LinearizedFactor.cpp.

gtsam::LinearizedJacobianFactor::~LinearizedJacobianFactor ( )

inlineoverride

Definition at line 112 of file LinearizedFactor.h.

Member Function Documentation

const constABlock gtsam::LinearizedJacobianFactor::A ( ) const

inline

Definition at line 129 of file LinearizedFactor.h.

const constABlock gtsam::LinearizedJacobianFactor::A ( Key key ) const

inline

Definition at line 130 of file LinearizedFactor.h.

const constBVector gtsam::LinearizedJacobianFactor::b ( ) const

inline

Definition at line 128 of file LinearizedFactor.h.

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 115 of file LinearizedFactor.h.

size_t gtsam::LinearizedJacobianFactor::dim ( ) const

inlineoverridevirtual

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

Implements gtsam::NonlinearFactor.

Definition at line 133 of file LinearizedFactor.h.

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

overridevirtual

equals function with optional tolerance

Reimplemented from gtsam::NonlinearFactor.

Definition at line 79 of file LinearizedFactor.cpp.

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

overridevirtual

Calculate the error of the factor

Implements gtsam::NonlinearFactor.

Definition at line 96 of file LinearizedFactor.cpp.

Vector gtsam::LinearizedJacobianFactor::error_vector ( const Values & c ) const

(A*x-b)

Definition at line 118 of file LinearizedFactor.cpp.

boost::shared_ptr< GaussianFactor > gtsam::LinearizedJacobianFactor::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 103 of file LinearizedFactor.cpp.

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

overridevirtual

print function

Reimplemented from gtsam::NonlinearFactor.

Definition at line 62 of file LinearizedFactor.cpp.

template<class ARCHIVE >

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

inlineprivate

Definition at line 152 of file LinearizedFactor.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 150 of file LinearizedFactor.h.

Member Data Documentation

VerticalBlockMatrix gtsam::LinearizedJacobianFactor::Ab_

protected

Definition at line 99 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