Public Types | Public Member Functions | List of all members
simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX > Struct Template Reference

#include <simulated2DConstraints.h>

Inheritance diagram for simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >:
Inheritance graph
[legend]

Public Types

typedef BoundingConstraint1< VALUE > Base
 Base class convenience typedef. More...
 
typedef VALUE Point
 Constrained variable type. More...
 
typedef boost::shared_ptr< ScalarCoordConstraint1< VALUE, IDX > > shared_ptr
 boost::shared_ptr convenience typedef More...
 
typedef ScalarCoordConstraint1< VALUE, IDX > This
 This class convenience typedef. More...
 
- Public Types inherited from gtsam::BoundingConstraint1< VALUE >
typedef NoiseModelFactor1< VALUE > Base
 
typedef boost::shared_ptr< BoundingConstraint1< VALUE > > shared_ptr
 
typedef VALUE X
 
- Public Types inherited from gtsam::NoiseModelFactor1< VALUE >
typedef VALUE X
 
- 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
 
unsigned int index () const
 
 ScalarCoordConstraint1 (Key key, double c, bool isGreaterThan, double mu=1000.0)
 
double value (const Point &x, boost::optional< Matrix & > H=boost::none) const override
 
 ~ScalarCoordConstraint1 () override
 
- Public Member Functions inherited from gtsam::BoundingConstraint1< VALUE >
bool active (const Values &c) const override
 
 BoundingConstraint1 (Key key, double threshold, bool isGreaterThan, double mu=1000.0)
 flag for greater/less than More...
 
Vector evaluateError (const X &x, boost::optional< Matrix & > H=boost::none) const override
 
bool isGreaterThan () const
 
double threshold () const
 
 ~BoundingConstraint1 () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactor1< VALUE >
 NoiseModelFactor1 ()
 
 ~NoiseModelFactor1 () override
 
Key key () const
 
 NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1)
 
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< 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 ()
 
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 ()
 

Additional Inherited Members

- Public Attributes inherited from gtsam::BoundingConstraint1< VALUE >
bool isGreaterThan_
 
double threshold_
 
- Protected Types inherited from gtsam::NoiseModelFactor1< VALUE >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor1< 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 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<class VALUE, unsigned int IDX>
struct simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >

Unary inequality constraint forcing a coordinate to be greater/less than a fixed value (c)

Template Parameters
VALUEis the value type for the variable constrained, e.g. Pose2, Point3, etc.
IDXis an index in tangent space to constrain, must be less than KEY::VALUE::Dim()

Definition at line 54 of file simulated2DConstraints.h.

Member Typedef Documentation

template<class VALUE , unsigned int IDX>
typedef BoundingConstraint1<VALUE> simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::Base

Base class convenience typedef.

Definition at line 55 of file simulated2DConstraints.h.

template<class VALUE , unsigned int IDX>
typedef VALUE simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::Point

Constrained variable type.

Definition at line 58 of file simulated2DConstraints.h.

template<class VALUE , unsigned int IDX>
typedef boost::shared_ptr<ScalarCoordConstraint1<VALUE, IDX> > simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::shared_ptr

boost::shared_ptr convenience typedef

Definition at line 57 of file simulated2DConstraints.h.

template<class VALUE , unsigned int IDX>
typedef ScalarCoordConstraint1<VALUE, IDX> simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::This

This class convenience typedef.

Definition at line 56 of file simulated2DConstraints.h.

Constructor & Destructor Documentation

template<class VALUE , unsigned int IDX>
simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::~ScalarCoordConstraint1 ( )
inlineoverride

Definition at line 60 of file simulated2DConstraints.h.

template<class VALUE , unsigned int IDX>
simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::ScalarCoordConstraint1 ( Key  key,
double  c,
bool  isGreaterThan,
double  mu = 1000.0 
)
inline

Constructor for constraint

Parameters
keyis the label for the constrained variable
cis the measured value for the fixed coordinate
isGreaterThanis a flag to set inequality as greater than or less than
muis the penalty function gain

Definition at line 74 of file simulated2DConstraints.h.

Member Function Documentation

template<class VALUE , unsigned int IDX>
gtsam::NonlinearFactor::shared_ptr simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 63 of file simulated2DConstraints.h.

template<class VALUE , unsigned int IDX>
unsigned int simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::index ( ) const
inline

Access function for the constrained index

Returns
the index for the constrained coordinate

Definition at line 83 of file simulated2DConstraints.h.

template<class VALUE , unsigned int IDX>
double simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::value ( const Point x,
boost::optional< Matrix & >  H = boost::none 
) const
inlineoverridevirtual

extracts a single value from the point to compute error

Parameters
xis the estimate of the constrained variable being evaluated
His an optional Jacobian, linearized at x

Implements gtsam::BoundingConstraint1< VALUE >.

Definition at line 90 of file simulated2DConstraints.h.


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


gtsam
Author(s):
autogenerated on Sat May 8 2021 02:59:16