Detailed Description

A factor that takes a linear, Hessian factor and inserts it into a nonlinear graph.

Inheritance diagram for gtsam::LinearizedHessianFactor:

Public Member Functions
	LinearizedHessianFactor ()
	default constructor for serialization

	LinearizedHessianFactor (const HessianFactor::shared_ptr &hessian, const Values &lin_points)
	Use this constructor with the ordering used to linearize the graph. More...

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

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

virtual bool	equals (const NonlinearFactor &expected, double tol=1e-9) const
	equals function with optional tolerance

double	constantTerm () const
	Return the constant term \( f \) as described above. More...

constColumn	linearTerm (const_iterator j) const
	Return the part of linear term \( g \) as described above corresponding to the requested variable. More...

constColumn	linearTerm () const
	Return the complete linear term \( g \) as described above. More...

Matrix	squaredTerm (const_iterator j1, const_iterator j2) const
	Return a copy of the block at (j1,j2) of the <emph>upper-triangular part</emph> of the squared term \( H \), no data is copied. More...

Eigen::SelfAdjointView< constBlock, Eigen::Upper >	squaredTerm () const
	Return the <emph>upper-triangular part</emph> of the full squared term, as described above. More...

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

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

boost::shared_ptr< GaussianFactor >	linearize (const Values &c) const
	linearize to a GaussianFactor Reimplemented from NoiseModelFactor to directly copy out the matrices and only update the RHS b with an updated residual

Public Member Functions inherited from gtsam::LinearizedGaussianFactor
	LinearizedGaussianFactor ()
	default constructor for serialization

	LinearizedGaussianFactor (const GaussianFactor::shared_ptr &gaussian, const Values &lin_points)

const Values &	linearizationPoint () const

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
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 LinearizedGaussianFactor	Base
	base type

typedef LinearizedHessianFactor	This

typedef boost::shared_ptr< LinearizedHessianFactor >	shared_ptr
	shared pointer for convenience

typedef SymmetricBlockMatrix::Block	Block
	hessian block data types More...

typedef SymmetricBlockMatrix::constBlock	constBlock
	A block from the Hessian matrix (const version)

typedef SymmetricBlockMatrix::Block::ColXpr	Column
	A column containing the linear term h.

typedef SymmetricBlockMatrix::constBlock::ColXpr	constColumn
	A column containing the linear term h (const version)

Public Types inherited from gtsam::LinearizedGaussianFactor
typedef NonlinearFactor	Base
	base type

typedef LinearizedGaussianFactor	This

typedef boost::shared_ptr< LinearizedGaussianFactor >	shared_ptr
	shared pointer for convenience

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 Attributes
SymmetricBlockMatrix	info_
	The block view of the full information matrix, s.t. More...

Protected Attributes inherited from gtsam::LinearizedGaussianFactor
Values	lin_points_
	linearization points for error calculation

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

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

Additional Inherited Members
Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

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...

Member Typedef Documentation

◆ Block

typedef SymmetricBlockMatrix::Block gtsam::LinearizedHessianFactor::Block

hessian block data types

A block from the Hessian matrix

Constructor & Destructor Documentation

◆ LinearizedHessianFactor()

gtsam::LinearizedHessianFactor::LinearizedHessianFactor	(	const HessianFactor::shared_ptr &	hessian,
		const Values &	lin_points
	)

Use this constructor with the ordering used to linearize the graph.

Parameters

hessian	A hessian factor
lin_points	The linearization points for, at least, the variables used by this factor

Member Function Documentation

◆ clone()

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

inlinevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ constantTerm()

double gtsam::LinearizedHessianFactor::constantTerm ( ) const

inline

Return the constant term \( f \) as described above.

Returns: The constant term \( f \)

◆ linearTerm() [1/2]

constColumn gtsam::LinearizedHessianFactor::linearTerm ( const_iterator j ) const

inline

Return the part of linear term \( g \) as described above corresponding to the requested variable.

Parameters

j	Which block row to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor.

Returns: The linear term \( g \)

◆ linearTerm() [2/2]

constColumn gtsam::LinearizedHessianFactor::linearTerm ( ) const

inline

Return the complete linear term \( g \) as described above.

Returns: The linear term \( g \)

◆ squaredTerm() [1/2]

Matrix gtsam::LinearizedHessianFactor::squaredTerm	(	const_iterator	j1,
		const_iterator	j2
	)		const

inline

Return a copy of the block at (j1,j2) of the <emph>upper-triangular part</emph> of the squared term \( H \), no data is copied.

See HessianFactor class documentation above to explain that only the upper-triangular part of the information matrix is stored and returned by this function.

Parameters

j1	Which block row to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor.
j2	Which block column to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor.

Returns: A copy of the requested block.

◆ squaredTerm() [2/2]

Eigen::SelfAdjointView<constBlock, Eigen::Upper> gtsam::LinearizedHessianFactor::squaredTerm ( ) const

inline

Return the <emph>upper-triangular part</emph> of the full squared term, as described above.

See HessianFactor class documentation above to explain that only the upper-triangular part of the information matrix is stored and returned by this function.

Member Data Documentation

◆ info_

SymmetricBlockMatrix gtsam::LinearizedHessianFactor::info_

protected

The block view of the full information matrix, s.t.

the quadratic error is 0.5*[x -1]'H[x -1]

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

/Users/dellaert/git/gtsam/gtsam_unstable/nonlinear/LinearizedFactor.h
/Users/dellaert/git/gtsam/gtsam_unstable/nonlinear/LinearizedFactor.cpp

Detailed Description

Public Member Functions

Public Types

Protected Attributes

Friends

Additional Inherited Members

Member Typedef Documentation

◆ Block

Constructor & Destructor Documentation

◆ LinearizedHessianFactor()

Member Function Documentation

◆ clone()

◆ constantTerm()

◆ linearTerm() [1/2]

◆ linearTerm() [2/2]

◆ squaredTerm() [1/2]

◆ squaredTerm() [2/2]

Member Data Documentation

◆ info_