#include <PartialPriorFactor.h>

Inheritance diagram for gtsam::PartialPriorFactor< VALUE >:

[legend]

Public Types
typedef VALUE	T

Public Types inherited from gtsam::NoiseModelFactorN< VALUE >
using	ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type

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...

Public Member Functions
gtsam::NonlinearFactor::shared_ptr	clone () const override

bool	equals (const NonlinearFactor &expected, double tol=1e-9) const override

Vector	evaluateError (const T &p, OptionalMatrixType H) const override

const std::vector< size_t > &	indices () const

	PartialPriorFactor ()

	PartialPriorFactor (Key key, const std::vector< size_t > &indices, const Vector &prior, const SharedNoiseModel &model)

	PartialPriorFactor (Key key, size_t idx, double prior, const SharedNoiseModel &model)

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

const Vector &	prior () const

	~PartialPriorFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< VALUE >
Key	key () const

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

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

	~NoiseModelFactorN () override

	NoiseModelFactorN ()
	Default Constructor for I/O. More...

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)

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

virtual Vector	evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0

Vector	evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const

Vector	evaluateError (const ValueTypes &... x) const

AreAllMatrixRefs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

AreAllMatrixPtrs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

Key	key1 () const

Key	key2 () const

Key	key3 () const

Key	key4 () const

Key	key5 () const

Key	key6 () const

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

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)

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	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 NoiseModelFactorN< VALUE >	Base

typedef PartialPriorFactor< VALUE >	This

Protected Types inherited from gtsam::NoiseModelFactorN< VALUE >
using	Base = NoiseModelFactor

using	KeyType = Key

using	MatrixTypeT = Matrix

using	OptionalMatrixTypeT = Matrix *

using	This = NoiseModelFactorN< ValueTypes... >

using	IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type

using	IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type

using	ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type

using	IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >

using	AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix & >::value), Ret >

using	IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix * >

using	IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >

using	AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value\|\|IsNullpointer< Args >::value)), Ret >

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
	PartialPriorFactor (Key key, const SharedNoiseModel &model)

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)

Protected Attributes
std::vector< size_t >	indices_
	Indices of the measured tangent space parameters. More...

Vector	prior_
	Measurement on tangent space parameters, in compressed form. More...

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
Static Public Attributes inherited from gtsam::NoiseModelFactorN< VALUE >
constexpr static auto	N
	N is the number of variables (N-way factor) 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)

Detailed Description

template<class VALUE>
class gtsam::PartialPriorFactor< VALUE >

A class for a soft partial prior on any Lie type, with a mask over Expmap parameters. Note that this will use Logmap() to find a tangent space parameterization for the variable attached, so this may fail for highly nonlinear manifolds.

The prior vector used in this factor is stored in compressed form, such that it only contains values for measurements that are to be compared, and they are in the same order as VALUE::Logmap(). The provided indices will determine which components to extract in the error function.

Template Parameters

VALUE is the type of variable the prior effects

Definition at line 40 of file PartialPriorFactor.h.

Member Typedef Documentation

◆ Base

template<class VALUE >

typedef NoiseModelFactorN<VALUE> gtsam::PartialPriorFactor< VALUE >::Base

protected

Definition at line 49 of file PartialPriorFactor.h.

◆ T

template<class VALUE >

typedef VALUE gtsam::PartialPriorFactor< VALUE >::T

Definition at line 43 of file PartialPriorFactor.h.

◆ This

template<class VALUE >

typedef PartialPriorFactor<VALUE> gtsam::PartialPriorFactor< VALUE >::This

protected

Definition at line 50 of file PartialPriorFactor.h.

Constructor & Destructor Documentation

◆ PartialPriorFactor() [1/4]

template<class VALUE >

gtsam::PartialPriorFactor< VALUE >::PartialPriorFactor	(	Key	key,
		const SharedNoiseModel &	model
	)

inlineprotected

constructor with just minimum requirements for a factor - allows more computation in the constructor. This should only be used by subclasses

Definition at line 59 of file PartialPriorFactor.h.

◆ PartialPriorFactor() [2/4]

template<class VALUE >

gtsam::PartialPriorFactor< VALUE >::PartialPriorFactor ( )

inline

default constructor - only use for serialization

Definition at line 68 of file PartialPriorFactor.h.

◆ PartialPriorFactor() [3/4]

template<class VALUE >

gtsam::PartialPriorFactor< VALUE >::PartialPriorFactor	(	Key	key,
		size_t	idx,
		double	prior,
		const SharedNoiseModel &	model
	)

inline

Single Element Constructor: Prior on a single parameter at index 'idx' in the tangent vector.

Definition at line 71 of file PartialPriorFactor.h.

◆ PartialPriorFactor() [4/4]

template<class VALUE >

gtsam::PartialPriorFactor< VALUE >::PartialPriorFactor	(	Key	key,
		const std::vector< size_t > &	indices,
		const Vector &	prior,
		const SharedNoiseModel &	model
	)

inline

Indices Constructor: Specify the relevant measured indices in the tangent vector.

Definition at line 79 of file PartialPriorFactor.h.

◆ ~PartialPriorFactor()

template<class VALUE >

gtsam::PartialPriorFactor< VALUE >::~PartialPriorFactor ( )

inlineoverride

Definition at line 88 of file PartialPriorFactor.h.

Member Function Documentation

◆ clone()

template<class VALUE >

gtsam::NonlinearFactor::shared_ptr gtsam::PartialPriorFactor< VALUE >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 91 of file PartialPriorFactor.h.

◆ equals()

template<class VALUE >

bool gtsam::PartialPriorFactor< VALUE >::equals	(	const NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 104 of file PartialPriorFactor.h.

◆ evaluateError()

template<class VALUE >

Vector gtsam::PartialPriorFactor< VALUE >::evaluateError	(	const T &	p,
		OptionalMatrixType	H
	)		const

inlineoverride

implement functions needed to derive from Factor Returns a vector of errors for the measured tangent parameters.

Definition at line 114 of file PartialPriorFactor.h.

◆ indices()

template<class VALUE >

const std::vector<size_t>& gtsam::PartialPriorFactor< VALUE >::indices ( ) const

inline

Definition at line 142 of file PartialPriorFactor.h.

◆ print()

template<class VALUE >

void gtsam::PartialPriorFactor< VALUE >::print	(	const std::string &	s,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

implement functions needed for Testable print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 98 of file PartialPriorFactor.h.

◆ prior()

template<class VALUE >

const Vector& gtsam::PartialPriorFactor< VALUE >::prior ( ) const

inline

Definition at line 141 of file PartialPriorFactor.h.

Member Data Documentation

◆ indices_

template<class VALUE >

std::vector<size_t> gtsam::PartialPriorFactor< VALUE >::indices_

protected

Indices of the measured tangent space parameters.

Definition at line 53 of file PartialPriorFactor.h.

◆ prior_

template<class VALUE >

Vector gtsam::PartialPriorFactor< VALUE >::prior_

protected

Measurement on tangent space parameters, in compressed form.

Definition at line 52 of file PartialPriorFactor.h.

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

PartialPriorFactor.h

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class VALUE> class gtsam::PartialPriorFactor< VALUE >

Member Typedef Documentation

◆ Base

◆ T

◆ This

Constructor & Destructor Documentation

◆ PartialPriorFactor() [1/4]

◆ PartialPriorFactor() [2/4]

◆ PartialPriorFactor() [3/4]

◆ PartialPriorFactor() [4/4]

◆ ~PartialPriorFactor()

Member Function Documentation

◆ clone()

◆ equals()

◆ evaluateError()

◆ indices()

◆ print()

◆ prior()

Member Data Documentation

◆ indices_

◆ prior_

template<class VALUE>
class gtsam::PartialPriorFactor< VALUE >