gtsam::CustomFactor Class Reference

#include <CustomFactor.h>

Inheritance diagram for gtsam::CustomFactor:

Public Member Functions
	CustomFactor ()=default
	CustomFactor (const SharedNoiseModel &noiseModel, const KeyVector &keys, const CustomErrorFunction &errorFunction)
void	print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
bool	sendable () const override
Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) 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
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	clone () const
virtual shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const
virtual shared_ptr	rekey (const KeyVector &new_keys) 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
using	Base = NoiseModelFactor
using	This = CustomFactor
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 Attributes
CustomErrorFunction	error_function_
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
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...
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)
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

Definition at line 45 of file CustomFactor.h.

Member Typedef Documentation

Base

using gtsam::CustomFactor::Base = NoiseModelFactor

protected

Definition at line 51 of file CustomFactor.h.

This

using gtsam::CustomFactor::This = CustomFactor

protected

Definition at line 52 of file CustomFactor.h.

Constructor & Destructor Documentation

CustomFactor() [1/2]

gtsam::CustomFactor::CustomFactor ( )

default

Default Constructor for I/O

CustomFactor() [2/2]

gtsam::CustomFactor::CustomFactor ( const SharedNoiseModel &  noiseModel, const KeyVector &  keys, const CustomErrorFunction &  errorFunction  )

inline

Constructor

Parameters

noiseModel	shared pointer to noise model
keys	keys of the variables
errorFunction	the error functional

Definition at line 67 of file CustomFactor.h.

Member Function Documentation

print()

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

overridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 59 of file CustomFactor.cpp.

sendable()

bool gtsam::CustomFactor::sendable ( ) const

inlineoverridevirtual

Mark not sendable

Reimplemented from gtsam::NonlinearFactor.

Definition at line 85 of file CustomFactor.h.

unwhitenedError()

Vector gtsam::CustomFactor::unwhitenedError ( const Values &  x, OptionalMatrixVecType  H = nullptr  ) const

overridevirtual

Calls the errorFunction closure, which is a std::function object One can check if a derivative is needed in the errorFunction by checking the length of Jacobian array

Implements gtsam::NoiseModelFactor.

Definition at line 25 of file CustomFactor.cpp.

Member Data Documentation

error_function_

CustomErrorFunction gtsam::CustomFactor::error_function_

protected

Definition at line 47 of file CustomFactor.h.

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

• CustomFactor.h
• CustomFactor.cpp