Detailed Description

template<typename T>
class gtsam::ExpressionFactor< T >

Factor that supports arbitrary expressions via AD.

Inheritance diagram for gtsam::ExpressionFactor< T >:

Public Member Functions
	ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement, const Expression< T > &expression)
	Constructor: creates a factor from a measurement and measurement function. More...

virtual	~ExpressionFactor ()
	Destructor.

const T &	measured () const
	return the measurement

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	print relies on Testable traits being defined for T

bool	equals (const NonlinearFactor &f, double tol) const
	equals relies on Testable traits being defined for T

virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
	Error function without the NoiseModel, \( z-h(x) -> Local(h(x),z) \). More...

virtual boost::shared_ptr< GaussianFactor >	linearize (const Values &x) const
	linearize to a GaussianFactor

virtual gtsam::NonlinearFactor::shared_ptr	clone () const

Public Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor ()
	Default constructor for I/O only.

virtual	~NoiseModelFactor ()
	Destructor.

template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
	Constructor.

virtual size_t	dim () const
	get the dimension of the factor (number of rows on linearization)

const SharedNoiseModel &	noiseModel () const
	access to the noise model

Vector	whitenedError (const Values &c) const
	Vector of errors, whitened This is the raw error, i.e., i.e. More...

virtual double	error (const Values &c) const
	Calculate the error of the factor. More...

boost::shared_ptr< GaussianFactor >	linearize (const Values &x) const
	Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \).

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()
	Default constructor for I/O only.

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)
	Constructor from a collection of the keys involved in this factor.

virtual	~NonlinearFactor ()
	Destructor.

virtual bool	active (const Values &) const
	Checks whether a factor should be used based on a set of values. More...

shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const
	Creates a shared_ptr clone of the factor with different keys using a map from old->new keys.

shared_ptr	rekey (const KeyVector &new_keys) const
	Clones a factor and fully replaces its keys. More...

Public Member Functions inherited from gtsam::Factor
KeyVector &	keys ()

iterator	begin ()
	Iterator at beginning of involved variable keys.

iterator	end ()
	Iterator at end of involved variable keys.

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

void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys

Key	front () const
	First key.

Key	back () const
	Last key.

const_iterator	find (Key key) const
	find

const KeyVector &	keys () const
	Access the factor's involved variable keys.

const_iterator	begin () const
	Iterator at beginning of involved variable keys.

const_iterator	end () const
	Iterator at end of involved variable keys.

size_t	size () const

Public Types
typedef boost::shared_ptr< ExpressionFactor< T > >	shared_ptr

Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< This >	shared_ptr
	Noise model.

Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::Factor
typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Protected Types
typedef ExpressionFactor< T >	This

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
	ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement)
	Default constructor, for serialization. More...

void	initialize (const Expression< T > &expression)
	Initialize with constructor arguments.

virtual Expression< T >	expression () const
	Recreate expression from keys_ and measured_, used in load below. More...

Protected Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor (const SharedNoiseModel &noiseModel)
	Constructor - only for subclasses, as this does not set keys.

Protected Member Functions inherited from gtsam::Factor
	Factor ()
	Default constructor for I/O.

template<typename CONTAINER >
	Factor (const CONTAINER &keys)
	Construct factor from container of keys. More...

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...

bool	equals (const This &other, double tol=1e-9) const
	check equality

Protected Attributes
T	measured_
	the measurement to be compared with the expression

Expression< T >	expression_
	the expression that is AD enabled

FastVector< int >	dims_
	dimensions of the Jacobian matrices

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Static Protected Attributes
static const int	Dim = traits<T>::dimension

Friends
class	boost::serialization::access

Additional Inherited Members
Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)
	Construct factor from container of keys. More...

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...

Constructor & Destructor Documentation

◆ ExpressionFactor() [1/2]

template<typename T>

gtsam::ExpressionFactor< T >::ExpressionFactor	(	const SharedNoiseModel &	noiseModel,
		const T &	measurement,
		const Expression< T > &	expression
	)

inline

Constructor: creates a factor from a measurement and measurement function.

Parameters

noiseModel	the noise model associated with a measurement
measurement	actual value of the measurement, of type T
expression	predicts the measurement from Values The keys associated with the factor, returned by keys(), are sorted.

◆ ExpressionFactor() [2/2]

template<typename T>

gtsam::ExpressionFactor< T >::ExpressionFactor	(	const SharedNoiseModel &	noiseModel,
		const T &	measurement
	)

inlineprotected

Default constructor, for serialization.

Constructor for serializable derived classes

Member Function Documentation

◆ clone()

template<typename T>

virtual gtsam::NonlinearFactor::shared_ptr gtsam::ExpressionFactor< T >::clone ( ) const

inlinevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Reimplemented in gtsam::RangeFactorWithTransform< A1, A2, T >, gtsam::BearingRangeFactor< A1, A2, B, R >, and gtsam::RangeFactor< A1, A2, T >.

◆ expression()

template<typename T>

virtual Expression<T> gtsam::ExpressionFactor< T >::expression ( ) const

inlineprotectedvirtual

Recreate expression from keys_ and measured_, used in load below.

Needed to deserialize a derived factor

◆ unwhitenedError()

template<typename T>

virtual Vector gtsam::ExpressionFactor< T >::unwhitenedError	(	const Values &	x,
		boost::optional< std::vector< Matrix > & >	H = `boost::none`
	)		const

inlinevirtual

Error function without the NoiseModel, \( z-h(x) -> Local(h(x),z) \).

We override this method to provide both the function evaluation and its derivative(s) in H.

Implements gtsam::NoiseModelFactor.

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

/Users/dellaert/git/gtsam/gtsam/nonlinear/Expression.h
/Users/dellaert/git/gtsam/gtsam/nonlinear/ExpressionFactor.h

Detailed Description

template<typename T> class gtsam::ExpressionFactor< T >

Public Member Functions

Public Types

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ExpressionFactor() [1/2]

◆ ExpressionFactor() [2/2]

Member Function Documentation

◆ clone()

◆ expression()

◆ unwhitenedError()

template<typename T>
class gtsam::ExpressionFactor< T >