Detailed Description

Common interface for compact batch Jacobian factors.

BatchJacobianFactorBase gives solvers a way to recognize compact batched Jacobian storage without treating it as a regular dense-block JacobianFactor. Generic GaussianFactor methods keep working through toJacobianFactor(), while the internal elimination adapter can access the compact storage without materializing structural zeros.

The intended fast path is a factor whose row blocks have already been whitened and therefore has either no model or a unit model. Non-unit diagonal models are still supported for compatibility paths.

Inheritance diagram for gtsam::BatchJacobianFactorBase:

Public Member Functions
virtual size_t	rows () const =0
	Number of scalar rows represented by this factor.
virtual const SharedDiagonal &	get_model () const =0
	Optional model on the compact factor. The intended fast path is whitened.
virtual JacobianFactor	toJacobianFactor () const =0
	Convert compact storage to a dense-block JacobianFactor.
void	print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const override
	Print this compact factor by converting to a JacobianFactor.
bool	equals (const GaussianFactor &factor, double tol=1e-9) const override
	Test equality by comparing dense JacobianFactor representations.
double	error (const VectorValues &values) const override
	Compute the factor error by delegating to the dense compatibility factor.
double	deltaError (const VectorValues &values, double oldError=nullptr, double newError=nullptr) const override
	Compute the error change by delegating to the dense compatibility factor.
Matrix	augmentedJacobian () const override
	Return the dense augmented Jacobian matrix for compatibility callers.
std::pair< Matrix, Vector >	jacobian () const override
	Return the dense Jacobian matrix and right-hand side vector.
Matrix	augmentedInformation () const override
	Return the dense augmented information matrix for compatibility callers.
Matrix	information () const override
	Return the dense information matrix for compatibility callers.
void	hessianDiagonalAdd (VectorValues &diagonal) const override
	Add this factor's Hessian diagonal into the given VectorValues.
void	hessianDiagonal (double *diagonal) const override
	Add this factor's Hessian diagonal into a raw scalar buffer.
std::map< Key, Matrix >	hessianBlockDiagonal () const override
	Return the Hessian diagonal blocks keyed by variable.
GaussianFactor::shared_ptr	negate () const override
	Return a factor representing the negated linear system.
void	updateHessian (const KeyVector &keys, SymmetricBlockMatrix *info) const override
	Update the augmented Hessian using key lookup through the dense fallback.
virtual void	multiplyHessianAdd (double alpha, const std::vector< size_t > &scalarOffsets, const double x, double y) const override
	Add this factor's Hessian-vector product using scalar offsets for keys().
virtual void	gradientAtZeroAdd (const std::vector< size_t > &scalarOffsets, double *gradient) const override
	Add this factor's gradient at zero to a flat vector.
virtual void	hessianBlockDiagonalAdd (const std::vector< size_t > &blockSlots, std::vector< Matrix > *diagonalBlocks) const override
	Add this factor's Hessian diagonal to ordered blocks.
void	updateHessian (const KeyVector &keys, SymmetricBlockMatrix *info, DenseIndex beginCol, DenseIndex endCol) const override
	Update a column range of the augmented Hessian using the dense fallback.
void	multiplyHessianAdd (double alpha, const VectorValues &x, VectorValues &y) const override
	Add the Hessian-vector product into y using the dense fallback.
VectorValues	gradientAtZero () const override
	Return the full gradient evaluated at zero.
void	gradientAtZero (double *d) const override
	Add the gradient evaluated at zero into a raw scalar buffer.
Vector	gradient (Key key, const VectorValues &x) const override
	Return the gradient block for one key at the given linearization point.
	GaussianFactor ()
	Inherit GaussianFactor constructors.
template<typename CONTAINER>
	GaussianFactor (const CONTAINER &keys)
	Inherit GaussianFactor constructors.
Public Member Functions inherited from gtsam::GaussianFactor
	GaussianFactor ()
	Default constructor creates empty factor.
template<typename CONTAINER>
	GaussianFactor (const CONTAINER &keys)
	Construct from container of keys.
double	error (const HybridValues &c) const override
	All factor types need to implement an error function.
virtual DenseIndex	getDim (const_iterator variable) const =0
	Return the dimension of the variable pointed to by the given key iterator.
VectorValues	hessianDiagonal () const
	Return the diagonal of the Hessian for this factor.
virtual GaussianFactor::shared_ptr	clone () const =0
	Clone a factor (make a deep copy).
virtual bool	isJacobian () const
	Fast check for JacobianFactor-based types.
Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor.
bool	empty () const
	Whether the factor is empty (involves zero variables).
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
virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys
bool	equals (const This &other, double tol=1e-9) const
	check equality
KeyVector &	keys ()
iterator	begin ()
	Iterator at beginning of involved variable keys.
iterator	end ()
	Iterator at end of involved variable keys.

Friends
class	internal::BatchJacobianFactorElimination

Additional Inherited Members
template<typename CONTAINER>
static DenseIndex	Slot (const CONTAINER &keys, Key key)
Public Types inherited from gtsam::GaussianFactor
typedef GaussianFactor	This
	This class.
typedef std::shared_ptr< This >	shared_ptr
	shared_ptr to this class
typedef Factor	Base
	Our base class.
Public Types inherited from gtsam::Factor
typedef KeyVector::iterator	iterator
	Iterator over keys.
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.
	Factor ()
	Default constructor for I/O.
template<typename CONTAINER>
	Factor (const CONTAINER &keys)
	Construct factor from container of keys.
template<typename ITERATOR>
	Factor (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys.
template<typename CONTAINER>
static Factor	FromKeys (const CONTAINER &keys)
	Construct factor from container of keys.
template<typename ITERATOR>
static Factor	FromIterators (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys.
Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.

Member Function Documentation

◆ augmentedInformation()

Matrix gtsam::BatchJacobianFactorBase::augmentedInformation ( ) const

inlineoverridevirtual

Return the dense augmented information matrix for compatibility callers.

scalarOffsets	Flat-vector offset for each entry in keys().
gradient	Output vector to which the gradient is added.

blockSlots	Output block slot for each entry in keys().
diagonalBlocks	Blocks to which diagonal contributions are added.

alpha	Scale applied to this factor's contribution.
scalarOffsets	Flat-vector offset for each entry in keys().
x	Input vector containing every referenced key block.
y	Output vector to which the scaled product is added.

Detailed Description

Public Member Functions

Friends

Additional Inherited Members

Member Function Documentation

◆ augmentedInformation()

◆ augmentedJacobian()

◆ deltaError()

◆ equals()

◆ error()

◆ get_model()

◆ gradient()

◆ gradientAtZero() [1/2]

◆ gradientAtZero() [2/2]

◆ gradientAtZeroAdd()

◆ hessianBlockDiagonal()

◆ hessianBlockDiagonalAdd()

◆ hessianDiagonal()

◆ hessianDiagonalAdd()

◆ information()

◆ jacobian()

◆ multiplyHessianAdd() [1/2]

◆ multiplyHessianAdd() [2/2]

◆ negate()

◆ print()

◆ rows()

◆ toJacobianFactor()

◆ updateHessian() [1/2]

◆ updateHessian() [2/2]