Detailed Description

noiseModel::Base is the abstract base class for all noise models.

Noise models must implement a 'whiten' function to normalize an error vector, and an 'unwhiten' function to unnormalize an error vector.

Inheritance diagram for gtsam::noiseModel::Base:

Public Member Functions
	Base (size_t dim=1)
	primary constructor More...

virtual bool	isConstrained () const
	true if a constrained noise model, saves slow/clumsy dynamic casting More...

virtual bool	isUnit () const
	true if a unit noise model, saves slow/clumsy dynamic casting More...

size_t	dim () const
	Dimensionality.

virtual void	print (const std::string &name="") const =0

virtual bool	equals (const Base &expected, double tol=1e-9) const =0

virtual Vector	sigmas () const
	Calculate standard deviations. More...

virtual Vector	whiten (const Vector &v) const =0
	Whiten an error vector. More...

virtual Matrix	Whiten (const Matrix &H) const =0
	Whiten a matrix. More...

virtual Vector	unwhiten (const Vector &v) const =0
	Unwhiten an error vector. More...

virtual double	squaredMahalanobisDistance (const Vector &v) const
	Squared Mahalanobis distance v'R'Rv = <Rv,R*v> More...

virtual double	mahalanobisDistance (const Vector &v) const
	Mahalanobis distance.

virtual double	loss (const double squared_distance) const
	loss function, input is Mahalanobis distance More...

virtual void	WhitenSystem (std::vector< Matrix > &A, Vector &b) const =0

virtual void	WhitenSystem (Matrix &A, Vector &b) const =0

virtual void	WhitenSystem (Matrix &A1, Matrix &A2, Vector &b) const =0

virtual void	WhitenSystem (Matrix &A1, Matrix &A2, Matrix &A3, Vector &b) const =0

virtual void	whitenInPlace (Vector &v) const
	in-place whiten, override if can be done more efficiently More...

virtual void	unwhitenInPlace (Vector &v) const
	in-place unwhiten, override if can be done more efficiently More...

virtual void	whitenInPlace (Eigen::Block< Vector > &v) const
	in-place whiten, override if can be done more efficiently More...

virtual void	unwhitenInPlace (Eigen::Block< Vector > &v) const
	in-place unwhiten, override if can be done more efficiently More...

virtual Vector	unweightedWhiten (const Vector &v) const
	Useful function for robust noise models to get the unweighted but whitened error. More...

virtual double	weight (const Vector &v) const
	get the weight from the effective loss function on residual vector v More...

Public Types
typedef boost::shared_ptr< Base >	shared_ptr

Protected Attributes
size_t	dim_

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

Constructor & Destructor Documentation

◆ Base()

gtsam::noiseModel::Base::Base ( size_t dim = 1 )

inline

primary constructor

Parameters

dim	is the dimension of the model

Member Function Documentation

◆ isConstrained()

virtual bool gtsam::noiseModel::Base::isConstrained ( ) const

inlinevirtual

true if a constrained noise model, saves slow/clumsy dynamic casting

Reimplemented in gtsam::noiseModel::Constrained.

◆ isUnit()

virtual bool gtsam::noiseModel::Base::isUnit ( ) const

inlinevirtual

true if a unit noise model, saves slow/clumsy dynamic casting

Reimplemented in gtsam::noiseModel::Unit.

◆ loss()

virtual double gtsam::noiseModel::Base::loss ( const double squared_distance ) const

inlinevirtual

loss function, input is Mahalanobis distance

Reimplemented in gtsam::noiseModel::Robust.

◆ sigmas()

Vector gtsam::noiseModel::Base::sigmas ( ) const

virtual

Calculate standard deviations.

Reimplemented in gtsam::noiseModel::Gaussian, and gtsam::noiseModel::Diagonal.

◆ squaredMahalanobisDistance()

double gtsam::noiseModel::Base::squaredMahalanobisDistance ( const Vector & v ) const

virtual

Squared Mahalanobis distance v'*R'*R*v = <R*v,R*v>

Reimplemented in gtsam::noiseModel::Constrained, gtsam::noiseModel::Isotropic, and gtsam::noiseModel::Unit.

◆ unweightedWhiten()

virtual Vector gtsam::noiseModel::Base::unweightedWhiten ( const Vector & v ) const

inlinevirtual

Useful function for robust noise models to get the unweighted but whitened error.

Reimplemented in gtsam::noiseModel::Robust.

◆ unwhiten()

virtual Vector gtsam::noiseModel::Base::unwhiten ( const Vector & v ) const

pure virtual

Unwhiten an error vector.

Implemented in gtsam::noiseModel::Robust, gtsam::noiseModel::Gaussian, gtsam::noiseModel::Diagonal, gtsam::noiseModel::Isotropic, and gtsam::noiseModel::Unit.

◆ unwhitenInPlace() [1/2]

virtual void gtsam::noiseModel::Base::unwhitenInPlace ( Eigen::Block< Vector > & v ) const

inlinevirtual

in-place unwhiten, override if can be done more efficiently

Reimplemented in gtsam::noiseModel::Unit.

◆ unwhitenInPlace() [2/2]

virtual void gtsam::noiseModel::Base::unwhitenInPlace ( Vector & v ) const

inlinevirtual

in-place unwhiten, override if can be done more efficiently

Reimplemented in gtsam::noiseModel::Unit.

◆ weight()

virtual double gtsam::noiseModel::Base::weight ( const Vector & v ) const

inlinevirtual

get the weight from the effective loss function on residual vector v

Reimplemented in gtsam::noiseModel::Robust.

◆ Whiten()

virtual Matrix gtsam::noiseModel::Base::Whiten ( const Matrix & H ) const

pure virtual

Whiten a matrix.

Implemented in gtsam::noiseModel::Robust, gtsam::noiseModel::Gaussian, gtsam::noiseModel::Diagonal, gtsam::noiseModel::Constrained, gtsam::noiseModel::Isotropic, and gtsam::noiseModel::Unit.

◆ whiten()

virtual Vector gtsam::noiseModel::Base::whiten ( const Vector & v ) const

pure virtual

Whiten an error vector.

Implemented in gtsam::noiseModel::Gaussian, gtsam::noiseModel::Diagonal, gtsam::noiseModel::Constrained, gtsam::noiseModel::Isotropic, gtsam::noiseModel::Unit, and gtsam::noiseModel::Robust.

◆ whitenInPlace() [1/2]

virtual void gtsam::noiseModel::Base::whitenInPlace ( Eigen::Block< Vector > & v ) const

inlinevirtual

in-place whiten, override if can be done more efficiently

Reimplemented in gtsam::noiseModel::Unit.

◆ whitenInPlace() [2/2]

virtual void gtsam::noiseModel::Base::whitenInPlace ( Vector & v ) const

inlinevirtual

in-place whiten, override if can be done more efficiently

Reimplemented in gtsam::noiseModel::Unit, and gtsam::noiseModel::Isotropic.

◆ WhitenSystem()

virtual void gtsam::noiseModel::Base::WhitenSystem	(	std::vector< Matrix > &	A,
		Vector &	b
	)		const

pure virtual

Implemented in gtsam::noiseModel::Gaussian.

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

/Users/dellaert/git/github/gtsam/linear/NoiseModel.h
/Users/dellaert/git/github/gtsam/linear/NoiseModel.cpp

Detailed Description

Public Member Functions

Public Types

Protected Attributes

Friends

Constructor & Destructor Documentation

◆ Base()

Member Function Documentation

◆ isConstrained()

◆ isUnit()

◆ loss()

◆ sigmas()

◆ squaredMahalanobisDistance()

◆ unweightedWhiten()

◆ unwhiten()

◆ unwhitenInPlace() [1/2]

◆ unwhitenInPlace() [2/2]

◆ weight()

◆ Whiten()

◆ whiten()

◆ whitenInPlace() [1/2]

◆ whitenInPlace() [2/2]

◆ WhitenSystem()