Detailed Description

An equality factor that forces either one variable to a constant, or a set of variables to be equal to each other.

Depending on flag, throws an error at linearization if the constraints are not met.

Switchable implementation:

ALLLOW_ERROR : if we allow that there can be nonzero error, does not throw, and uses gain
ONLY_EXACT : throws error at linearization if not at exact feasible point, and infinite error

Inheritance diagram for gtsam::NonlinearEquality< VALUE >:

Standard Constructors
	NonlinearEquality (Key j, const T &feasible, const CompareFunction &_compare=boost::bind(traits< T >::Equals, _1, _2, 1e-9))
	Constructor - forces exact evaluation.

	NonlinearEquality (Key j, const T &feasible, double error_gain, const CompareFunction &_compare=boost::bind(traits< T >::Equals, _1, _2, 1e-9))
	Constructor - allows inexact evaluation.

Testable
virtual void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	Print.

virtual bool	equals (const NonlinearFactor &f, double tol=1e-9) const
	Check if two factors are equal.

Standard Interface
virtual double	error (const Values &c) const
	actual error function calculation

Vector	evaluateError (const T &xj, boost::optional< Matrix & > H=boost::none) const
	error function

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

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

Public Member Functions
	NonlinearEquality ()
	default constructor - only for serialization

Public Member Functions inherited from gtsam::NoiseModelFactor1< VALUE >
	NoiseModelFactor1 ()
	Default constructor for I/O only.

Key	key () const

	NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1)
	Constructor. More...

virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
	Calls the 1-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class.

Public Types
typedef VALUE	T

typedef boost::function< bool(const T &, const T &)>	CompareFunction
	Function that compares two values.

Public Types inherited from gtsam::NoiseModelFactor1< VALUE >
typedef VALUE	X

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor1< VALUE >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor1< VALUE >	This

Member Function Documentation

template<class VALUE >

virtual gtsam::NonlinearFactor::shared_ptr gtsam::NonlinearEquality< VALUE >::clone ( ) const

inlinevirtual

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