#include <simulated2DConstraints.h>

Inheritance diagram for simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >:

[legend]

Public Types
typedef BoundingConstraint1< VALUE >	Base
	Base class convenience typedef. More...

typedef VALUE	Point
	Constrained variable type. More...

typedef std::shared_ptr< ScalarCoordConstraint1< VALUE, IDX > >	shared_ptr
	std::shared_ptr convenience typedef More...

typedef ScalarCoordConstraint1< VALUE, IDX >	This
	This class convenience typedef. More...

Public Types inherited from gtsam::BoundingConstraint1< VALUE >
typedef NoiseModelFactorN< VALUE >	Base

typedef std::shared_ptr< BoundingConstraint1< VALUE > >	shared_ptr

typedef VALUE	X

Public Types inherited from gtsam::NoiseModelFactorN< VALUE >
enum
	N is the number of variables (N-way factor) More...

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

unsigned int	index () const

	ScalarCoordConstraint1 (Key key, double c, bool isGreaterThan, double mu=1000.0)

double	value (const Point &x, OptionalMatrixType H=OptionalNone) const override

	~ScalarCoordConstraint1 () override

Public Member Functions inherited from gtsam::BoundingConstraint1< VALUE >
bool	active (const Values &c) const override

	BoundingConstraint1 (Key key, double threshold, bool isGreaterThan, double mu=1000.0)
	flag for greater/less than More...

Vector	evaluateError (const X &x, OptionalMatrixType H) const override

bool	isGreaterThan () const

double	threshold () const

	~BoundingConstraint1 () override

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

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 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 ()

Additional Inherited Members
Public Attributes inherited from gtsam::BoundingConstraint1< VALUE >
bool	isGreaterThan_

double	threshold_

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 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<class VALUE, unsigned int IDX>
struct simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >

Unary inequality constraint forcing a coordinate to be greater/less than a fixed value (c)

Template Parameters

VALUE	is the value type for the variable constrained, e.g. Pose2, Point3, etc.
IDX	is an index in tangent space to constrain, must be less than KEY::VALUE::Dim()

Definition at line 55 of file simulated2DConstraints.h.

Member Typedef Documentation

◆ Base

template<class VALUE , unsigned int IDX>

typedef BoundingConstraint1<VALUE> simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::Base

Base class convenience typedef.

Definition at line 56 of file simulated2DConstraints.h.

◆ Point

template<class VALUE , unsigned int IDX>

typedef VALUE simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::Point

Constrained variable type.

Definition at line 59 of file simulated2DConstraints.h.

◆ shared_ptr

template<class VALUE , unsigned int IDX>

typedef std::shared_ptr<ScalarCoordConstraint1<VALUE, IDX> > simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::shared_ptr

std::shared_ptr convenience typedef

Definition at line 58 of file simulated2DConstraints.h.

◆ This

template<class VALUE , unsigned int IDX>

typedef ScalarCoordConstraint1<VALUE, IDX> simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::This

This class convenience typedef.

Definition at line 57 of file simulated2DConstraints.h.

Constructor & Destructor Documentation

◆ ~ScalarCoordConstraint1()

template<class VALUE , unsigned int IDX>

simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::~ScalarCoordConstraint1 ( )

inlineoverride

Definition at line 61 of file simulated2DConstraints.h.

◆ ScalarCoordConstraint1()

template<class VALUE , unsigned int IDX>

simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::ScalarCoordConstraint1	(	Key	key,
		double	c,
		bool	isGreaterThan,
		double	mu = `1000.0`
	)

inline

Constructor for constraint

Parameters

key	is the label for the constrained variable
c	is the measured value for the fixed coordinate
isGreaterThan	is a flag to set inequality as greater than or less than
mu	is the penalty function gain

Definition at line 75 of file simulated2DConstraints.h.

Member Function Documentation

◆ clone()

template<class VALUE , unsigned int IDX>

gtsam::NonlinearFactor::shared_ptr simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 64 of file simulated2DConstraints.h.

◆ index()

template<class VALUE , unsigned int IDX>

unsigned int simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::index ( ) const

inline

Access function for the constrained index

Returns: the index for the constrained coordinate

Definition at line 84 of file simulated2DConstraints.h.

◆ value()

template<class VALUE , unsigned int IDX>

double simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >::value	(	const Point &	x,
		OptionalMatrixType	H = `OptionalNone`
	)		const

inlineoverridevirtual

extracts a single value from the point to compute error

Parameters

x	is the estimate of the constrained variable being evaluated
H	is an optional Jacobian, linearized at x

Implements gtsam::BoundingConstraint1< VALUE >.

Definition at line 91 of file simulated2DConstraints.h.

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

simulated2DConstraints.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<class VALUE, unsigned int IDX> struct simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >

Member Typedef Documentation

◆ Base

◆ Point

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ ~ScalarCoordConstraint1()

◆ ScalarCoordConstraint1()

Member Function Documentation

◆ clone()

◆ index()

◆ value()

template<class VALUE, unsigned int IDX>
struct simulated2D::inequality_constraints::ScalarCoordConstraint1< VALUE, IDX >