Private Types | Private Member Functions | Private Attributes | List of all members
gtsam::ShonanFactor< d > Class Template Reference

#include <ShonanFactor.h>

Inheritance diagram for gtsam::ShonanFactor< d >:
Inheritance graph
[legend]

Public Member Functions

Constructor
 ShonanFactor (Key j1, Key j2, const Rot &R12, size_t p, const SharedNoiseModel &model=nullptr, const boost::shared_ptr< Matrix > &G=nullptr)
 
Testable
void print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print with optional string More...
 
bool equals (const NonlinearFactor &expected, double tol=1e-9) const override
 assert equality up to a tolerance More...
 
NoiseModelFactor2 methods
Vector evaluateError (const SOn &Q1, const SOn &Q2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override
 
- Public Member Functions inherited from gtsam::NoiseModelFactor2< SOn, SOn >
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
 
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)
 
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
 
virtual shared_ptr clone () 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 ()
 

Private Types

using Rot = typename std::conditional< d==2, Rot2, Rot3 >::type
 

Private Member Functions

void fillJacobians (const Matrix &M1, const Matrix &M2, boost::optional< Matrix & > H1, boost::optional< Matrix & > H2) const
 Calculate Jacobians if asked, Only implemented for d=2 and 3 in .cpp. More...
 

Private Attributes

boost::shared_ptr< MatrixG_
 matrix of vectorized generators More...
 
Matrix M_
 measured rotation between R1 and R2 More...
 
size_t p_
 
size_t pp_
 dimensionality constants More...
 

Additional Inherited Members

- Public Types inherited from gtsam::NoiseModelFactor2< SOn, SOn >
typedef SOn X1
 
typedef SOn 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...
 
- Protected Types inherited from gtsam::NoiseModelFactor2< SOn, SOn >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor2< SOn, SOnThis
 
- 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<size_t d>
class gtsam::ShonanFactor< d >

ShonanFactor is a BetweenFactor that moves in SO(p), but will land on the SO(d) sub-manifold of SO(p) at the global minimum. It projects the SO(p) matrices down to a Stiefel manifold of p*d matrices.

Definition at line 36 of file ShonanFactor.h.

Member Typedef Documentation

template<size_t d>
using gtsam::ShonanFactor< d >::Rot = typename std::conditional<d == 2, Rot2, Rot3>::type
private

Definition at line 42 of file ShonanFactor.h.

Constructor & Destructor Documentation

template<size_t d>
gtsam::ShonanFactor< d >::ShonanFactor ( Key  j1,
Key  j2,
const Rot R12,
size_t  p,
const SharedNoiseModel model = nullptr,
const boost::shared_ptr< Matrix > &  G = nullptr 
)

Constructor. Note we convert to d*p-dimensional noise model. To save memory and mallocs, pass in the vectorized Lie algebra generators: G = boost::make_shared<Matrix>(SOn::VectorizedGenerators(p));

Definition at line 35 of file ShonanFactor.cpp.

Member Function Documentation

template<size_t d>
bool gtsam::ShonanFactor< d >::equals ( const NonlinearFactor expected,
double  tol = 1e-9 
) const
overridevirtual

assert equality up to a tolerance

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 68 of file ShonanFactor.cpp.

template<size_t d>
Vector gtsam::ShonanFactor< d >::evaluateError ( const SOn Q1,
const SOn Q2,
boost::optional< Matrix & >  H1 = boost::none,
boost::optional< Matrix & >  H2 = boost::none 
) const
overridevirtual

Error is Frobenius norm between Q1*P*R12 and Q2*P, where P=[I_3x3;0] projects down from SO(p) to the Stiefel manifold of px3 matrices.

Implements gtsam::NoiseModelFactor2< SOn, SOn >.

Definition at line 108 of file ShonanFactor.cpp.

template<size_t d>
void gtsam::ShonanFactor< d >::fillJacobians ( const Matrix M1,
const Matrix M2,
boost::optional< Matrix & >  H1,
boost::optional< Matrix & >  H2 
) const
private

Calculate Jacobians if asked, Only implemented for d=2 and 3 in .cpp.

Definition at line 77 of file ShonanFactor.cpp.

template<size_t d>
void gtsam::ShonanFactor< d >::print ( const std::string &  s,
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
overridevirtual

print with optional string

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 58 of file ShonanFactor.cpp.

Member Data Documentation

template<size_t d>
boost::shared_ptr<Matrix> gtsam::ShonanFactor< d >::G_
private

matrix of vectorized generators

Definition at line 39 of file ShonanFactor.h.

template<size_t d>
Matrix gtsam::ShonanFactor< d >::M_
private

measured rotation between R1 and R2

Definition at line 37 of file ShonanFactor.h.

template<size_t d>
size_t gtsam::ShonanFactor< d >::p_
private

Definition at line 38 of file ShonanFactor.h.

template<size_t d>
size_t gtsam::ShonanFactor< d >::pp_
private

dimensionality constants

Definition at line 38 of file ShonanFactor.h.


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


gtsam
Author(s):
autogenerated on Sat May 8 2021 02:58:29