Detailed Description

template<class VALUE1, class VALUE2>
class gtsam::NoiseModelFactor2< VALUE1, VALUE2 >

A convenient base class for creating your own NoiseModelFactor with 2 variables.

To derive from this class, implement evaluateError().

Inheritance diagram for gtsam::NoiseModelFactor2< VALUE1, VALUE2 >:

Public Member Functions
	NoiseModelFactor2 ()
	Default Constructor for I/O.

	NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2)
	Constructor. More...

Key	key1 () const
	methods to retrieve both keys

Key	key2 () const

virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
	Calls the 2-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More...

virtual Vector	evaluateError (const X1 &, const X2 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const =0
	Override this method to finish implementing a binary factor. More...

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 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.

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...

virtual shared_ptr	clone () const
	Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses. 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
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

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

KeyVector &	keys ()

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

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

Public Types
typedef VALUE1	X1

typedef VALUE2	X2

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 NoiseModelFactor	Base

typedef NoiseModelFactor2< VALUE1, VALUE2 >	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

Friends
class	boost::serialization::access
	Serialization function.

Additional Inherited Members
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

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...

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Constructor & Destructor Documentation

◆ NoiseModelFactor2()

template<class VALUE1, class VALUE2>

gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::NoiseModelFactor2	(	const SharedNoiseModel &	noiseModel,
		Key	j1,
		Key	j2
	)

inline

Constructor.

Parameters

noiseModel	shared pointer to noise model
j1	key of the first variable
j2	key of the second variable

Member Function Documentation

◆ evaluateError()

template<class VALUE1, class VALUE2>

virtual Vector gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::evaluateError	(	const X1 &	,
		const X2 &	,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

pure virtual

Override this method to finish implementing a binary factor.

If any of the optional Matrix reference arguments are specified, it should compute both the function evaluation and its derivative(s) in X1 (and/or X2).

Implemented in gtsam::NonlinearEquality2< VALUE >, gtsam::EssentialMatrixFactor3, gtsam::EssentialMatrixFactor2, gtsam::MagFactor2, gtsam::BoundingConstraint2< VALUE1, VALUE2 >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::InvDepthFactorVariant2, gtsam::InvDepthFactorVariant3a, gtsam::InvDepthFactorVariant1, gtsam::PoseBetweenFactor< POSE >, gtsam::BetweenFactor< VALUE >, gtsam::GaussMarkov1stOrderFactor< VALUE >, gtsam::VelocityConstraint, gtsam::EssentialMatrixConstraint, gtsam::BiasedGPSFactor, gtsam::RelativeElevationFactor, gtsam::OrientedPlane3Factor, and gtsam::DeltaFactor.

◆ unwhitenedError()

template<class VALUE1, class VALUE2>

virtual Vector gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::unwhitenedError	(	const Values &	x,
		boost::optional< std::vector< Matrix > & >	H = `boost::none`
	)		const

inlinevirtual

Calls the 2-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class.

Implements gtsam::NoiseModelFactor.

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

/Users/dellaert/git/gtsam/gtsam/nonlinear/NonlinearFactor.h

Detailed Description

template<class VALUE1, class VALUE2> class gtsam::NoiseModelFactor2< VALUE1, VALUE2 >

Public Member Functions

Public Types

Protected Types

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ NoiseModelFactor2()

Member Function Documentation

◆ evaluateError()

◆ unwhitenedError()

template<class VALUE1, class VALUE2>
class gtsam::NoiseModelFactor2< VALUE1, VALUE2 >