#include <NonlinearFactor.h>

Inherits gtsam::NonlinearFactor.

Public Types
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...

Public Member Functions
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

virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0

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

virtual bool	sendable () 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
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

Protected Member Functions
	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)

Protected Attributes
SharedNoiseModel	noiseModel_

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

Additional Inherited Members
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 nonlinear sum-of-squares factor with a zero-mean noise model implementing the density $P(z|x) \propto exp -0.5*|z-h(x)|^2_C$ Templated on the parameter type X and the values structure Values There is no return type specified for h(x). Instead, we require the derived class implements $\mathtt{error\_vector}(x) = h(x)-z \approx A \delta x - b$ This allows a graph to have factors with measurements of mixed type.

The noise model is typically Gaussian, but robust and constrained error models are also supported.

Definition at line 198 of file NonlinearFactor.h.

Member Typedef Documentation

◆ Base

typedef NonlinearFactor gtsam::NoiseModelFactor::Base

protected

Definition at line 203 of file NonlinearFactor.h.

◆ shared_ptr

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

Noise model

Definition at line 210 of file NonlinearFactor.h.

◆ This

typedef NoiseModelFactor gtsam::NoiseModelFactor::This

protected

Definition at line 204 of file NonlinearFactor.h.

Constructor & Destructor Documentation

◆ NoiseModelFactor() [1/3]

gtsam::NoiseModelFactor::NoiseModelFactor ( )

inline

Default constructor for I/O only

Definition at line 213 of file NonlinearFactor.h.

◆ ~NoiseModelFactor()

gtsam::NoiseModelFactor::~NoiseModelFactor ( )

inlineoverride

Destructor

Definition at line 216 of file NonlinearFactor.h.

◆ NoiseModelFactor() [2/3]

template<typename CONTAINER >

gtsam::NoiseModelFactor::NoiseModelFactor	(	const SharedNoiseModel &	noiseModel,
		const CONTAINER &	keys
	)

inline

Constructor

Definition at line 222 of file NonlinearFactor.h.

◆ NoiseModelFactor() [3/3]

gtsam::NoiseModelFactor::NoiseModelFactor ( const SharedNoiseModel & noiseModel )

inlineprotected

Constructor - only for subclasses, as this does not set keys.

Definition at line 230 of file NonlinearFactor.h.

Member Function Documentation

◆ cloneWithNewNoiseModel()

NoiseModelFactor::shared_ptr NoiseModelFactor::cloneWithNewNoiseModel ( const SharedNoiseModel newNoise ) const

Creates a shared_ptr clone of the factor with a new noise model

Definition at line 91 of file NonlinearFactor.cpp.

◆ dim()

size_t gtsam::NoiseModelFactor::dim ( ) const

inlineoverridevirtual

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

Implements gtsam::NonlinearFactor.

Reimplemented in gtsam::EssentialTransferFactorK< K >, NonlinearMeasurementModel, and NonlinearMotionModel.

Definition at line 241 of file NonlinearFactor.h.

◆ equals()

bool NoiseModelFactor::equals	(	const NonlinearFactor &	f,
		double	tol = `1e-9`
	)		const

overridevirtual

Check if two factors are equal

Reimplemented from gtsam::NonlinearFactor.

Reimplemented in gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::InvDepthFactorVariant3b, gtsam::ProjectionFactorRollingShutter, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::TriangulationFactor< CAMERA >, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >, gtsam::InvDepthFactorVariant2, gtsam::InvDepthFactorVariant3a, gtsam::InvDepthFactorVariant1, gtsam::FunctorizedFactor< T, Matrix >, gtsam::FunctorizedFactor< Vector, Matrix >, gtsam::FunctorizedFactor< double, BASIS::Parameters >, gtsam::FunctorizedFactor< double, Vector >, gtsam::FunctorizedFactor< double, Matrix >, NonlinearMeasurementModel, NonlinearMotionModel, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::SmartRangeFactor, gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY >, gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS >, gtsam::FrobeniusBetweenFactor< Rot >, gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >, gtsam::PartialPriorFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::BetweenFactor< VALUE >, gtsam::PriorFactor< VALUE >, gtsam::GaussMarkov1stOrderFactor< VALUE >, gtsam::PoseBetweenFactor< POSE >, gtsam::OrientedPlane3DirectionPrior, gtsam::PoseTranslationPrior< POSE >, gtsam::EssentialMatrixConstraint, gtsam::PosePriorFactor< POSE >, gtsam::BiasedGPSFactor, gtsam::ShonanFactor< d >, gtsam::PoseRotationPrior< POSE >, gtsam::PoseToPointFactor< POSE, POINT >, gtsam::RelativeElevationFactor, gtsam::FullIMUFactor< POSE >, and gtsam::IMUFactor< POSE >.

Definition at line 82 of file NonlinearFactor.cpp.

◆ error()

double NoiseModelFactor::error ( const Values & c ) const

overridevirtual

Calculate the error of the factor. This is the log-likelihood, e.g. $0.5(h(x)-z)^2/\sigma^2$ in case of Gaussian. In this class, we take the raw prediction error $ h(x)-z $ , ask the noise model to transform it to $(h(x)-z)^2/\sigma^2$ , and then multiply by 0.5.

Reimplemented from gtsam::NonlinearFactor.

Reimplemented in NonlinearMeasurementModel, and NonlinearMotionModel.

Definition at line 138 of file NonlinearFactor.cpp.

◆ linearize()

std::shared_ptr< GaussianFactor > NoiseModelFactor::linearize ( const Values & x ) const

overridevirtual

Linearize a non-linearFactorN to get a GaussianFactor, $Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z$ Hence $b = z - h(x) = - \mathtt{error\_vector}(x)$

Implements gtsam::NonlinearFactor.

Reimplemented in gtsam::TriangulationFactor< CAMERA >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, NonlinearMeasurementModel, and NonlinearMotionModel.

Definition at line 152 of file NonlinearFactor.cpp.

◆ noiseModel()

const SharedNoiseModel& gtsam::NoiseModelFactor::noiseModel ( ) const

inline

access to the noise model

Definition at line 246 of file NonlinearFactor.h.

◆ print()

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

overridevirtual

Print

Reimplemented from gtsam::NonlinearFactor.

Reimplemented in gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::OrientedPlane3Factor, gtsam::OrientedPlane3DirectionPrior, gtsam::LocalOrientedPlane3Factor, gtsam::InvDepthFactorVariant3a, gtsam::InvDepthFactorVariant3b, gtsam::InvDepthFactorVariant2, gtsam::InvDepthFactorVariant1, gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >, gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >, gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY >, gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS >, gtsam::EssentialMatrixFactor5< CALIBRATION >, gtsam::EssentialMatrixFactor4< CALIBRATION >, NonlinearMeasurementModel, gtsam::EssentialMatrixFactor3, gtsam::EssentialMatrixFactor2, NonlinearMotionModel, gtsam::ProjectionFactorRollingShutter, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::TriangulationFactor< CAMERA >, gtsam::FunctorizedFactor< T, Matrix >, gtsam::FunctorizedFactor< Vector, Matrix >, gtsam::FunctorizedFactor< double, BASIS::Parameters >, gtsam::FunctorizedFactor< double, Vector >, gtsam::FunctorizedFactor< double, Matrix >, gtsam::RotateDirectionsFactor, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::BetweenFactor< VALUE >, gtsam::EssentialMatrixFactor, gtsam::PoseTranslationPrior< POSE >, gtsam::SmartRangeFactor, gtsam::EssentialMatrixConstraint, gtsam::PoseRotationPrior< POSE >, gtsam::RelativeElevationFactor, gtsam::RotateFactor, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::VelocityConstraint, gtsam::FullIMUFactor< POSE >, gtsam::IMUFactor< POSE >, gtsam::FrobeniusBetweenFactor< Rot >, gtsam::PartialPriorFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::PriorFactor< VALUE >, gtsam::GaussMarkov1stOrderFactor< VALUE >, gtsam::PoseBetweenFactor< POSE >, gtsam::PosePriorFactor< POSE >, gtsam::ShonanFactor< d >, gtsam::BiasedGPSFactor, and gtsam::PoseToPointFactor< POSE, POINT >.

Definition at line 74 of file NonlinearFactor.cpp.

◆ unweightedWhitenedError()

Vector NoiseModelFactor::unweightedWhitenedError ( const Values & c ) const

Vector of errors, whitened, but unweighted by any loss function

Definition at line 116 of file NonlinearFactor.cpp.

◆ unwhitenedError() [1/2]

virtual Vector gtsam::NoiseModelFactor::unwhitenedError	(	const Values &	x,
		OptionalMatrixVecType	H = `nullptr`
	)		const

pure virtual

Error function without the NoiseModel, $ z-h(x) $ . Override this method to finish implementing an N-way factor. If the optional arguments is specified, it should compute both the function evaluation and its derivative(s) in H.

◆ unwhitenedError() [2/2]

Vector gtsam::NoiseModelFactor::unwhitenedError	(	const Values &	x,
		std::vector< Matrix > &	H
	)		const

inline

support taking in the actual vector instead of the pointer as well to get access to this version of the function from derived classes one will need to use the "using" keyword and specify that like this: public: using NoiseModelFactor::unwhitenedError;

Definition at line 264 of file NonlinearFactor.h.

◆ weight()

double NoiseModelFactor::weight ( const Values & c ) const

Compute the effective weight of the factor from the noise model.

Definition at line 123 of file NonlinearFactor.cpp.

◆ whitenedError()

Vector NoiseModelFactor::whitenedError ( const Values & c ) const

Vector of errors, whitened This is the raw error, i.e., i.e. $(h(x)-z)/\sigma$ in case of a Gaussian

Definition at line 109 of file NonlinearFactor.cpp.

Member Data Documentation

◆ noiseModel_

SharedNoiseModel gtsam::NoiseModelFactor::noiseModel_

protected

Definition at line 206 of file NonlinearFactor.h.

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

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ NoiseModelFactor() [1/3]

◆ ~NoiseModelFactor()

◆ NoiseModelFactor() [2/3]

◆ NoiseModelFactor() [3/3]

Member Function Documentation

◆ cloneWithNewNoiseModel()

◆ dim()

◆ equals()

◆ error()

◆ linearize()

◆ noiseModel()

◆ print()

◆ unweightedWhitenedError()

◆ unwhitenedError() [1/2]

◆ unwhitenedError() [2/2]

◆ weight()

◆ whitenedError()

Member Data Documentation

◆ noiseModel_