Detailed Description

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

Inheritance diagram for gtsam::LinearizedJacobianFactor:

Public Member Functions
	LinearizedJacobianFactor ()
	default constructor for serialization

	LinearizedJacobianFactor (const JacobianFactor::shared_ptr &jacobian, const Values &lin_points)

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

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

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

const constBVector	b () const

const constABlock	A () const

const constABlock	A (Key key) const

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

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

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

Vector	error_vector (const Values &c) const
	(A*x-b)

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...

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

Public Types
typedef LinearizedGaussianFactor	Base
	base type

typedef LinearizedJacobianFactor	This

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

typedef VerticalBlockMatrix::Block	ABlock

typedef VerticalBlockMatrix::constBlock	constABlock

typedef VerticalBlockMatrix::Block::ColXpr	BVector

typedef VerticalBlockMatrix::constBlock::ConstColXpr	constBVector

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
VerticalBlockMatrix	Ab_

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...

Constructor & Destructor Documentation

◆ LinearizedJacobianFactor()

gtsam::LinearizedJacobianFactor::LinearizedJacobianFactor	(	const JacobianFactor::shared_ptr &	jacobian,
		const Values &	lin_points
	)

Parameters

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

Member Function Documentation

◆ clone()

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ dim()

size_t gtsam::LinearizedJacobianFactor::dim ( ) const

inlineoverridevirtual

get the dimension of the factor (number of rows on linearization)

Implements gtsam::NonlinearFactor.

◆ equals()

bool gtsam::LinearizedJacobianFactor::equals	(	const NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

overridevirtual

equals function with optional tolerance

Reimplemented from gtsam::NonlinearFactor.

◆ error()

double gtsam::LinearizedJacobianFactor::error ( const Values & c ) const

overridevirtual

Calculate the error of the factor.

Implements gtsam::NonlinearFactor.

◆ linearize()

boost::shared_ptr< GaussianFactor > gtsam::LinearizedJacobianFactor::linearize ( const Values & c ) const

overridevirtual

linearize to a GaussianFactor Reimplemented from NoiseModelFactor to directly copy out the matrices and only update the RHS b with an updated residual

Implements gtsam::NonlinearFactor.

◆ print()

void gtsam::LinearizedJacobianFactor::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

overridevirtual

print function

Reimplemented from gtsam::NonlinearFactor.

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

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

Detailed Description

Public Member Functions

Public Types

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ LinearizedJacobianFactor()

Member Function Documentation

◆ clone()

◆ dim()

◆ equals()

◆ error()

◆ linearize()

◆ print()