#include <ShonanFactor.h>

Inheritance diagram for gtsam::ShonanFactor< d >:

[legend]

Public Member Functions
Constructor
	ShonanFactor (Key j1, Key j2, const Rot &R12, size_t p, const SharedNoiseModel &model=nullptr, const std::shared_ptr< Matrix > &G=nullptr)

Testable
void	print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print with optional string More...

bool	equals (const NonlinearFactor &expected, double tol=1e-9) const override
	assert equality up to a tolerance More...

NoiseModelFactorN methods
Vector	evaluateError (const SOn &Q1, const SOn &Q2, OptionalMatrixType H1, OptionalMatrixType H2) const override

Public Member Functions inherited from gtsam::NoiseModelFactorN< SOn, SOn >
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	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 ()

Private Types
using	Rot = typename std::conditional< d==2, Rot2, Rot3 >::type

Private Member Functions
void	fillJacobians (const Matrix &M1, const Matrix &M2, OptionalMatrixType H1, OptionalMatrixType H2) const
	Calculate Jacobians if asked, Only implemented for d=2 and 3 in .cpp. More...

Private Attributes
std::shared_ptr< Matrix >	G_
	matrix of vectorized generators More...

Matrix	M_
	measured rotation between R1 and R2 More...

size_t	p_

size_t	pp_
	dimensionality constants More...

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactorN< SOn, SOn >
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...

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

Protected Types inherited from gtsam::NoiseModelFactorN< SOn, SOn >
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 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)

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<size_t d>
class gtsam::ShonanFactor< d >

ShonanFactor is a BetweenFactor that moves in SO(p), but will land on the SO(d) sub-manifold of SO(p) at the global minimum. It projects the SO(p) matrices down to a Stiefel manifold of p*d matrices.

Definition at line 36 of file ShonanFactor.h.

Member Typedef Documentation

◆ Rot

template<size_t d>

using gtsam::ShonanFactor< d >::Rot = typename std::conditional<d == 2, Rot2, Rot3>::type

private

Definition at line 42 of file ShonanFactor.h.

Constructor & Destructor Documentation

◆ ShonanFactor()

template<size_t d>

gtsam::ShonanFactor< d >::ShonanFactor	(	Key	j1,
		Key	j2,
		const Rot &	R12,
		size_t	p,
		const SharedNoiseModel &	model = `nullptr`,
		const std::shared_ptr< Matrix > &	G = `nullptr`
	)

Constructor. Note we convert to d*p-dimensional noise model. To save memory and mallocs, pass in the vectorized Lie algebra generators: G = std::make_shared<Matrix>(SOn::VectorizedGenerators(p));

Definition at line 35 of file ShonanFactor.cpp.

Member Function Documentation

◆ equals()

template<size_t d>

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

overridevirtual

assert equality up to a tolerance

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 68 of file ShonanFactor.cpp.

◆ evaluateError()

template<size_t d>

Vector gtsam::ShonanFactor< d >::evaluateError	(	const SOn &	Q1,
		const SOn &	Q2,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2
	)		const

override

Error is Frobenius norm between Q1*P*R12 and Q2*P, where P=[I_3x3;0] projects down from SO(p) to the Stiefel manifold of px3 matrices.

Definition at line 108 of file ShonanFactor.cpp.

◆ fillJacobians()

template<size_t d>

void gtsam::ShonanFactor< d >::fillJacobians	(	const Matrix &	M1,
		const Matrix &	M2,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2
	)		const

private

Calculate Jacobians if asked, Only implemented for d=2 and 3 in .cpp.

Definition at line 77 of file ShonanFactor.cpp.

◆ print()

template<size_t d>

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

overridevirtual

print with optional string

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 58 of file ShonanFactor.cpp.

Member Data Documentation

◆ G_

template<size_t d>

std::shared_ptr<Matrix> gtsam::ShonanFactor< d >::G_

private

matrix of vectorized generators

Definition at line 39 of file ShonanFactor.h.

◆ M_

template<size_t d>

Matrix gtsam::ShonanFactor< d >::M_

private

measured rotation between R1 and R2

Definition at line 37 of file ShonanFactor.h.

◆ p_

template<size_t d>

size_t gtsam::ShonanFactor< d >::p_

private

Definition at line 38 of file ShonanFactor.h.

◆ pp_

template<size_t d>

size_t gtsam::ShonanFactor< d >::pp_

private

dimensionality constants

Definition at line 38 of file ShonanFactor.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<size_t d> class gtsam::ShonanFactor< d >

Member Typedef Documentation

◆ Rot

Constructor & Destructor Documentation

◆ ShonanFactor()

Member Function Documentation

◆ equals()

◆ evaluateError()

◆ fillJacobians()

◆ print()

Member Data Documentation

◆ G_

◆ M_

◆ p_

◆ pp_

template<size_t d>
class gtsam::ShonanFactor< d >