Detailed Description

template<class BASIS, typename T>
class gtsam::ManifoldEvaluationFactor< BASIS, T >

For a measurement value of type T i.e.

T z = g(x), this unary factor enforces that the polynomial basis, when evaluated at x, gives us the same z, i.e. T z = g(x) = f(x;p).

This is done via computations on the tangent space of the manifold of T.

Parameters

BASIS	The basis class to use e.g. Chebyshev2
T	Object type which is synthesized by the provided functor.

Example: ManifoldEvaluationFactor<Chebyshev2, Rot3> rotationFactor(key, measurement, model, N, x, a, b);

where x is the value (e.g. timestep) at which the rotation was evaluated.

Inheritance diagram for gtsam::ManifoldEvaluationFactor< BASIS, T >:

Public Member Functions
	ManifoldEvaluationFactor (Key key, const T &z, const SharedNoiseModel &model, const size_t N, double x)
	Construct a new ManifoldEvaluationFactor object. More...

	ManifoldEvaluationFactor (Key key, const T &z, const SharedNoiseModel &model, const size_t N, double x, double a, double b)
	Construct a new ManifoldEvaluationFactor object. More...

Public Member Functions inherited from gtsam::FunctorizedFactor< T, ParameterMatrix< traits< T >::dimension > >
	FunctorizedFactor ()
	default constructor - only use for serialization

	FunctorizedFactor (Key key, const T &z, const SharedNoiseModel &model, const std::function< T(ParameterMatrix< traits< T >::dimension >, boost::optional< Matrix & >)> func)
	Construct with given x and the parameters of the basis. More...

NonlinearFactor::shared_ptr	clone () const override

Vector	evaluateError (const ParameterMatrix< traits< T >::dimension > &params, boost::optional< Matrix & > H=boost::none) const override
	Override this method to finish implementing a unary factor. More...

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print More...

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

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

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

	~NoiseModelFactor1 () override

Key	key () const

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

virtual Vector	evaluateError (const X &x, boost::optional< Matrix & > H=boost::none) const=0
	Override this method to finish implementing a unary factor. More...

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

	~NoiseModelFactor () override
	Destructor.

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

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

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

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

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

virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const =0
	Error function without the NoiseModel, \( z-h(x) \). More...

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

Vector	unweightedWhitenedError (const Values &c) const
	Vector of errors, whitened, but unweighted by any loss function.

double	weight (const Values &c) const
	Compute the effective weight of the factor from the noise model.

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

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

shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
	Creates a shared_ptr clone of the factor with a new noise model.

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	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. More...

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

virtual bool	sendable () const
	Should the factor be evaluated in the same thread as the caller This is to enable factors that has shared states (like the Python GIL lock) More...

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor.

KeyVector &	keys ()

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

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

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

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

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor1< ParameterMatrix< traits< T >::dimension > >
typedef ParameterMatrix< traits< T >::dimension >	X

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 inherited from gtsam::NoiseModelFactor1< ParameterMatrix< traits< T >::dimension > >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor1< ParameterMatrix< traits< T >::dimension > >	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 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

◆ ManifoldEvaluationFactor() [1/2]

template<class BASIS , typename T >

gtsam::ManifoldEvaluationFactor< BASIS, T >::ManifoldEvaluationFactor	(	Key	key,
		const T &	z,
		const SharedNoiseModel &	model,
		const size_t	N,
		double	x
	)

inline

Construct a new ManifoldEvaluationFactor object.

Parameters

key	Key for the state matrix parameterizing the function to estimate via the BASIS.
z	The measurement value.
model	The noise model.
N	The degree of the polynomial.
x	The point at which the estimated function is evaluated.

◆ ManifoldEvaluationFactor() [2/2]

template<class BASIS , typename T >

gtsam::ManifoldEvaluationFactor< BASIS, T >::ManifoldEvaluationFactor	(	Key	key,
		const T &	z,
		const SharedNoiseModel &	model,
		const size_t	N,
		double	x,
		double	a,
		double	b
	)

inline

Construct a new ManifoldEvaluationFactor object.

Parameters

key	Key for the state matrix parameterizing the function to estimate via the BASIS.
z	The measurement value.
model	The noise model.
N	The degree of the polynomial.
x	The point at which the estimated function is evaluated.
a	Lower bound for the polynomial.
b	Upper bound for the polynomial.

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

/Users/dellaert/git/github/gtsam/basis/BasisFactors.h

Detailed Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ ManifoldEvaluationFactor() [1/2]

◆ ManifoldEvaluationFactor() [2/2]