#include <LinearEquality.h>

Inheritance diagram for gtsam::LinearEquality:

[legend]

Public Types
typedef JacobianFactor	Base
	Typedef to base class. More...

typedef std::shared_ptr< This >	shared_ptr
	shared_ptr to this class More...

typedef LinearEquality	This
	Typedef to this class. More...

Public Types inherited from gtsam::JacobianFactor
typedef VerticalBlockMatrix::Block	ABlock

typedef GaussianFactor	Base
	Typedef to base class. More...

typedef ABlock::ColXpr	BVector

typedef VerticalBlockMatrix::constBlock	constABlock

typedef constABlock::ConstColXpr	constBVector

typedef std::shared_ptr< This >	shared_ptr
	shared_ptr to this class More...

typedef JacobianFactor	This
	Typedef to this class. More...

Public Types inherited from gtsam::GaussianFactor
typedef Factor	Base
	Our base class. More...

typedef std::shared_ptr< This >	shared_ptr
	shared_ptr to this class More...

typedef GaussianFactor	This
	This class. More...

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
bool	active () const
	for active set method: equality constraints are always active More...

GaussianFactor::shared_ptr	clone () const override

Key	dualKey () const
	dual key More...

bool	equals (const GaussianFactor &lf, double tol=1e-9) const override

double	error (const VectorValues &c) const override

Vector	error_vector (const VectorValues &c) const

	LinearEquality ()

	LinearEquality (const HessianFactor &hf)

	LinearEquality (const JacobianFactor &jf, Key dualKey)

template<typename TERMS >
	LinearEquality (const TERMS &terms, const Vector &b, Key dualKey)

	LinearEquality (Key i1, const Matrix &A1, const Vector &b, Key dualKey)

	LinearEquality (Key i1, const Matrix &A1, Key i2, const Matrix &A2, const Vector &b, Key dualKey)

	LinearEquality (Key i1, const Matrix &A1, Key i2, const Matrix &A2, Key i3, const Matrix &A3, const Vector &b, Key dualKey)

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

	~LinearEquality () override

Public Member Functions inherited from gtsam::JacobianFactor
Matrix	augmentedInformation () const override

Matrix	augmentedJacobian () const override

Matrix	augmentedJacobianUnweighted () const

size_t	cols () const

std::pair< std::shared_ptr< GaussianConditional >, shared_ptr >	eliminate (const Ordering &keys)

double	error (const HybridValues &c) const override

virtual double	error (const VectorValues &c) const

Vector	error_vector (const VectorValues &c) const

SharedDiagonal &	get_model ()

const SharedDiagonal &	get_model () const

ABlock	getA ()

constABlock	getA () const

ABlock	getA (const Key &key)

constABlock	getA (const_iterator variable) const

ABlock	getA (iterator variable)

BVector	getb ()

const constBVector	getb () const

DenseIndex	getDim (const_iterator variable) const override

Vector	gradient (Key key, const VectorValues &x) const override
	Compute the gradient wrt a key at any values. More...

VectorValues	gradientAtZero () const override
	A'*b for Jacobian. More...

void	gradientAtZero (double *d) const override
	A'*b for Jacobian (raw memory version) More...

std::map< Key, Matrix >	hessianBlockDiagonal () const override
	Return the block diagonal of the Hessian for this factor. More...

void	hessianDiagonal (double *d) const override
	Raw memory access version of hessianDiagonal. More...

void	hessianDiagonalAdd (VectorValues &d) const override
	Add the current diagonal to a VectorValues instance. More...

Matrix	information () const override

bool	isConstrained () const

std::pair< Matrix, Vector >	jacobian () const override
	Returns (dense) A,b pair associated with factor, bakes in the weights. More...

	JacobianFactor ()

	JacobianFactor (const GaussianFactor &gf)

	JacobianFactor (const GaussianFactorGraph &graph)

	JacobianFactor (const GaussianFactorGraph &graph, const Ordering &ordering)

	JacobianFactor (const GaussianFactorGraph &graph, const Ordering &ordering, const VariableSlots &p_variableSlots)

	JacobianFactor (const GaussianFactorGraph &graph, const VariableSlots &p_variableSlots)

	JacobianFactor (const HessianFactor &hf)

	JacobianFactor (const JacobianFactor &jf)

template<typename KEYS >
	JacobianFactor (const KEYS &keys, const VerticalBlockMatrix &augmentedMatrix, const SharedDiagonal &sigmas=SharedDiagonal())

template<typename TERMS >
	JacobianFactor (const TERMS &terms, const Vector &b, const SharedDiagonal &model=SharedDiagonal())

	JacobianFactor (const Vector &b_in)

	JacobianFactor (Key i1, const Matrix &A1, const Vector &b, const SharedDiagonal &model=SharedDiagonal())

	JacobianFactor (Key i1, const Matrix &A1, Key i2, const Matrix &A2, const Vector &b, const SharedDiagonal &model=SharedDiagonal())

	JacobianFactor (Key i1, const Matrix &A1, Key i2, const Matrix &A2, Key i3, const Matrix &A3, const Vector &b, const SharedDiagonal &model=SharedDiagonal())

std::pair< Matrix, Vector >	jacobianUnweighted () const
	Returns (dense) A,b pair associated with factor, does not bake in weights. More...

VerticalBlockMatrix &	matrixObject ()

const VerticalBlockMatrix &	matrixObject () const

void	multiplyHessianAdd (double alpha, const double x, double y, const std::vector< size_t > &accumulatedDims) const

void	multiplyHessianAdd (double alpha, const VectorValues &x, VectorValues &y) const override

GaussianFactor::shared_ptr	negate () const override

Vector	operator* (const VectorValues &x) const

size_t	rows () const

void	setModel (bool anyConstrained, const Vector &sigmas)

std::shared_ptr< GaussianConditional >	splitConditional (size_t nrFrontals)

void	transposeMultiplyAdd (double alpha, const Vector &e, VectorValues &x) const

Vector	unweighted_error (const VectorValues &c) const

void	updateHessian (const KeyVector &keys, SymmetricBlockMatrix *info) const override

JacobianFactor	whiten () const

	~JacobianFactor () override

Public Member Functions inherited from gtsam::GaussianFactor
	GaussianFactor ()

template<typename CONTAINER >
	GaussianFactor (const CONTAINER &keys)

double	error (const HybridValues &c) const override

VectorValues	hessianDiagonal () const
	Return the diagonal of the Hessian for this factor. More...

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 ()

Private Attributes
Key	dualKey_

Additional Inherited Members
Static Public Member Functions inherited from gtsam::GaussianFactor
template<typename CONTAINER >
static DenseIndex	Slot (const CONTAINER &keys, Key key)

Protected Member Functions inherited from gtsam::JacobianFactor
template<typename TERMS >
void	fillTerms (const TERMS &terms, const Vector &b, const SharedDiagonal &noiseModel)
	Internal function to fill blocks and set dimensions. More...

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)

Protected Attributes inherited from gtsam::JacobianFactor
VerticalBlockMatrix	Ab_

noiseModel::Diagonal::shared_ptr	model_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Detailed Description

This class defines a linear equality constraints, inheriting JacobianFactor with the special Constrained noise model

Definition at line 29 of file LinearEquality.h.

Member Typedef Documentation

◆ Base

typedef JacobianFactor gtsam::LinearEquality::Base

Typedef to base class.

Definition at line 32 of file LinearEquality.h.

◆ shared_ptr

typedef std::shared_ptr<This> gtsam::LinearEquality::shared_ptr

shared_ptr to this class

Definition at line 33 of file LinearEquality.h.

◆ This

typedef LinearEquality gtsam::LinearEquality::This

Typedef to this class.

Definition at line 31 of file LinearEquality.h.

Constructor & Destructor Documentation

◆ LinearEquality() [1/7]

gtsam::LinearEquality::LinearEquality ( )

inline

default constructor for I/O

Definition at line 40 of file LinearEquality.h.

◆ LinearEquality() [2/7]

gtsam::LinearEquality::LinearEquality	(	const JacobianFactor &	jf,
		Key	dualKey
	)

inlineexplicit

Construct from a constrained noisemodel JacobianFactor with a dual key.

Definition at line 47 of file LinearEquality.h.

◆ LinearEquality() [3/7]

gtsam::LinearEquality::LinearEquality ( const HessianFactor & hf )

inlineexplicit

Conversion from HessianFactor (does Cholesky to obtain Jacobian matrix)

Definition at line 56 of file LinearEquality.h.

◆ LinearEquality() [4/7]

gtsam::LinearEquality::LinearEquality	(	Key	i1,
		const Matrix &	A1,
		const Vector &	b,
		Key	dualKey
	)

inline

Construct unary factor

Definition at line 61 of file LinearEquality.h.

◆ LinearEquality() [5/7]

gtsam::LinearEquality::LinearEquality	(	Key	i1,
		const Matrix &	A1,
		Key	i2,
		const Matrix &	A2,
		const Vector &	b,
		Key	dualKey
	)

inline

Construct binary factor

Definition at line 66 of file LinearEquality.h.

◆ LinearEquality() [6/7]

gtsam::LinearEquality::LinearEquality	(	Key	i1,
		const Matrix &	A1,
		Key	i2,
		const Matrix &	A2,
		Key	i3,
		const Matrix &	A3,
		const Vector &	b,
		Key	dualKey
	)

inline

Construct ternary factor

Definition at line 73 of file LinearEquality.h.

◆ LinearEquality() [7/7]

template<typename TERMS >

gtsam::LinearEquality::LinearEquality	(	const TERMS &	terms,
		const Vector &	b,
		Key	dualKey
	)

inline

Construct an n-ary factor

Template Parameters

TERMS A container whose value type is std::pair<Key, Matrix>, specifying the collection of keys and matrices making up the factor.

Definition at line 83 of file LinearEquality.h.

◆ ~LinearEquality()

gtsam::LinearEquality::~LinearEquality ( )

inlineoverride

Virtual destructor

Definition at line 88 of file LinearEquality.h.

Member Function Documentation

◆ active()

bool gtsam::LinearEquality::active ( ) const

inline

for active set method: equality constraints are always active

Definition at line 114 of file LinearEquality.h.

◆ clone()

GaussianFactor::shared_ptr gtsam::LinearEquality::clone ( ) const

inlineoverridevirtual

Clone this LinearEquality

Reimplemented from gtsam::JacobianFactor.

Definition at line 103 of file LinearEquality.h.

◆ dualKey()

Key gtsam::LinearEquality::dualKey ( ) const

inline

dual key

Definition at line 109 of file LinearEquality.h.

◆ equals()

bool gtsam::LinearEquality::equals	(	const GaussianFactor &	lf,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::JacobianFactor.

Definition at line 92 of file LinearEquality.h.

◆ error()

double gtsam::LinearEquality::error ( const VectorValues & c ) const

inlineoverridevirtual

Special error for constraints. I think it should be zero, as this function is meant for objective cost. But the name "error" can be misleading. TODO: confirm with Frank!!

Reimplemented from gtsam::JacobianFactor.

Definition at line 127 of file LinearEquality.h.

◆ error_vector()

Vector gtsam::LinearEquality::error_vector ( const VectorValues & c ) const

inline

Special error_vector for constraints (A*x-b)

Definition at line 119 of file LinearEquality.h.

◆ print()

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

inlineoverridevirtual

print

Reimplemented from gtsam::JacobianFactor.

Definition at line 97 of file LinearEquality.h.

Member Data Documentation

◆ dualKey_

Key gtsam::LinearEquality::dualKey_

private

Definition at line 36 of file LinearEquality.h.

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

LinearEquality.h

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ LinearEquality() [1/7]

◆ LinearEquality() [2/7]

◆ LinearEquality() [3/7]

◆ LinearEquality() [4/7]

◆ LinearEquality() [5/7]

◆ LinearEquality() [6/7]

◆ LinearEquality() [7/7]

◆ ~LinearEquality()

Member Function Documentation

◆ active()

◆ clone()

◆ dualKey()

◆ equals()

◆ error()

◆ error_vector()

◆ print()

Member Data Documentation

◆ dualKey_