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gtsam::ExpressionFactorN< T, Args > Class Template Reference
Detailed Description
template<typename T, typename... Args>
class gtsam::ExpressionFactorN< T, Args >
class gtsam::ExpressionFactorN< T, Args >
N-ary variadic template for ExpressionFactor meant as a base class for N-ary factors.
Enforces an 'expression' method with N keys. Derived class (an N-factor!) needs to call 'initialize'.
Does not provide backward compatible 'evaluateError'.
- Template Parameters
-
T Type for measurements. The rest of template arguments are types for the N key-indexed Values.
Inheritance diagram for gtsam::ExpressionFactorN< T, Args >:
Public Member Functions | |
| virtual Expression< T > | expression (const ArrayNKeys &keys) const |
| Recreate expression from given keys_ and measured_, used in load Needed to deserialize a derived factor. | |
| Public Member Functions inherited from gtsam::ExpressionFactor< T > | |
| ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement, const Expression< T > &expression) | |
| Constructor: creates a factor from a measurement and measurement function. | |
| ~ExpressionFactor () override | |
| Destructor. | |
| const T & | measured () const |
| return the measurement | |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| print relies on Testable traits being defined for T | |
| bool | equals (const NonlinearFactor &f, double tol) const override |
| equals relies on Testable traits being defined for T | |
| Vector | unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override |
| Error function without the NoiseModel, \( z-h(x) -> Local(h(x),z) \). | |
| std::shared_ptr< GaussianFactor > | linearize (const Values &x) const override |
| linearize to a GaussianFactor | |
| gtsam::NonlinearFactor::shared_ptr | clone () const override |
| Vector | unwhitenedError (const Values &x, std::vector< Matrix > &H) const |
| support taking in the actual vector instead of the pointer as well to get access to this version of the function from derived classes one will need to use the "using" keyword and specify that like this: public: using NoiseModelFactor::unwhitenedError; | |
| 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. | |
| bool | equals (const NonlinearFactor &f, double tol=1e-9) const override |
| Check if two factors are equal. | |
| size_t | dim () const override |
| get the dimension of the factor (number of rows on linearization) | |
| const SharedNoiseModel & | noiseModel () const |
| access to the noise model | |
| Vector | unwhitenedError (const Values &x, std::vector< Matrix > &H) const |
| support taking in the actual vector instead of the pointer as well to get access to this version of the function from derived classes one will need to use the "using" keyword and specify that like this: public: using NoiseModelFactor::unwhitenedError; | |
| Vector | whitenedError (const Values &c) const |
| Vector of errors, whitened This is the raw error, i.e., i.e. | |
| 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. | |
| std::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 \( b = z - h(x) = - \mathtt{error\_vector}(x) \). | |
| shared_ptr | cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const |
| Creates a shared_ptr clone of the factor with a new noise model. | |
| double | error (const HybridValues &c) const override |
| All factor types need to implement an error function. | |
| 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. | |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| print | |
| double | error (const HybridValues &c) const override |
| All factor types need to implement an error function. | |
| virtual bool | active (const Values &c) const |
| Checks whether a factor should be used based on a set of values. | |
| virtual void | qcqpFactors (NonlinearFactorGraph *costs, NonlinearEqualityConstraints *constraints, size_t columnDimension=1) const |
| Add this factor's QCQP cost and constraints over matrix-valued QCQP variables with the given column dimension. | |
| 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. | |
| virtual shared_ptr | rekey (const KeyVector &new_keys) const |
| Clones a factor and fully replaces its keys. | |
| 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). | |
| 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. | |
Static Public Attributes | |
| static const std::size_t | NARY_EXPRESSION_SIZE = sizeof...(Args) |
Public Types | |
| using | ArrayNKeys = std::array<Key, NARY_EXPRESSION_SIZE> |
| Public Types inherited from gtsam::ExpressionFactor< T > | |
| typedef std::shared_ptr< ExpressionFactor< T > > | shared_ptr |
| Public Types inherited from gtsam::NoiseModelFactor | |
| typedef std::shared_ptr< This > | shared_ptr |
| Noise model. | |
| Public Types inherited from gtsam::NonlinearFactor | |
| typedef std::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 Member Functions | |
| ExpressionFactorN ()=default | |
| Default constructor, for serialization. | |
| ExpressionFactorN (const ArrayNKeys &keys, const SharedNoiseModel &noiseModel, const T &measurement) | |
| Constructor takes care of keys, but still need to call initialize. | |
| Protected Member Functions inherited from gtsam::ExpressionFactor< T > | |
| ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement) | |
| Default constructor, for serialization. | |
| void | initialize (const Expression< T > &expression) |
| Initialize with constructor arguments. | |
| Protected Member Functions inherited from gtsam::NoiseModelFactor | |
| NoiseModelFactor (const SharedNoiseModel &noiseModel) | |
| Constructor - only for subclasses, as this does not set 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. | |
Additional Inherited Members | |
| Protected Types inherited from gtsam::ExpressionFactor< T > | |
| typedef ExpressionFactor< T > | 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 |
| 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::ExpressionFactor< T > | |
| T | measured_ |
| the measurement to be compared with the expression | |
| Expression< T > | expression_ |
| the expression that is AD enabled | |
| FastVector< int > | dims_ |
| dimensions of the Jacobian matrices | |
| Protected Attributes inherited from gtsam::NoiseModelFactor | |
| SharedNoiseModel | noiseModel_ |
| Protected Attributes inherited from gtsam::Factor | |
| KeyVector | keys_ |
| The keys involved in this factor. | |
| Static Protected Attributes inherited from gtsam::ExpressionFactor< T > | |
| static const int | Dim = traits<T>::dimension |
The documentation for this class was generated from the following file:
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/nonlinear/ExpressionFactor.h
