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gtsam::ExtendedPriorFactor< VALUE > Class Template Reference
Detailed Description
template<class VALUE>
class gtsam::ExtendedPriorFactor< VALUE >
class gtsam::ExtendedPriorFactor< VALUE >
A class for a soft prior on any Value type, but with a non-zero mean in the tangent space.
The error is e(x) = -Local(x, origin) - mean. The loss is 0.5 * ||e(x)||^2_Sigma for a Gaussian noise model, and rho(e(x)) for a robust noise model rho. The likelihood is exp(-loss).
Note: The "extended concentrated Gaussian" on Lie groups is defined as ~ exp{-0.5*|log(origin_^{-1} x) - mean|^2_Sigma}. Our implementation, with a Gaussian noise model, is identical (up to a constant) to this for all Lie Groups.
Inheritance diagram for gtsam::ExtendedPriorFactor< VALUE >:
Access | |
| using | Gaussian = std::pair<Vector, Matrix> |
| Simple, non-templated Gaussian fusion in a common tangent space. | |
| const VALUE & | origin () const |
| const std::optional< Vector > & | mean () const |
| noiseModel::Gaussian::shared_ptr | gaussianModel (const std::string &method="<unknown>", bool throwOnFailure=false) const |
| Get the Gaussian noise model, or return nullopt/throw if not Gaussian. | |
| std::optional< Matrix > | covariance (const std::string &method="<unknown>", bool throwOnFailure=false) const |
| Get Gaussian covariance, or return nullopt/throw if not Gaussian. | |
| std::optional< Gaussian > | gaussian (const std::string &method="<unknown>", bool throwOnFailure=false) const |
| Get a Gaussian, or return nullopt if not Gaussian and throw is false. | |
Public Member Functions | |
Standard Constructors | |
| ExtendedPriorFactor () | |
| default constructor - only use for serialization | |
| ExtendedPriorFactor (Key key, const T &origin, const SharedNoiseModel &model) | |
| Constructor with noise model and optional mean in tangent space. | |
| ExtendedPriorFactor (Key key, const T &origin, const Vector &mean, const SharedNoiseModel &model) | |
| Constructor with noise model and optional mean in tangent space. | |
| ExtendedPriorFactor (Key key, const T &origin, const Matrix &covariance) | |
| Constructor with covariance matrix (zero mean in tangent space). | |
| ExtendedPriorFactor (Key key, const T &origin, const Vector &mean, const Matrix &covariance) | |
| Constructor with mean (in tangent space) and covariance matrix. | |
Standard Destructor | |
Testable | |
| void | print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| print | |
| bool | equals (const NonlinearFactor &expected, double tol=1e-9) const override |
| equals | |
Factor | |
| gtsam::NonlinearFactor::shared_ptr | clone () const override |
| Vector | evaluateError (const T &x, OptionalMatrixType H) const override |
| vector of errors | |
| double | error (const T &x) const |
| Compute the negative log-likelihood of a given value. | |
| double | likelihood (const T &x) const |
| Compute the likelihood of a given value. | |
| Public Member Functions inherited from gtsam::NoiseModelFactorT< Vector, ValueTypes... > | |
| Key | key () const |
| Returns a key. | |
| 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; | |
| NoiseModelFactorT () | |
| Default Constructor for I/O. | |
| NoiseModelFactorT (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys) | |
| Constructor. | |
| NoiseModelFactorT (const SharedNoiseModel &noiseModel, CONTAINER keys) | |
| Constructor. | |
| virtual Vector | evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0 |
| Override evaluateError to finish implementing an n-way factor. | |
| Vector | evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const |
| If all the optional arguments are matrices then redirect the call to the one which takes pointers. | |
| Vector | evaluateError (const ValueTypes &... x) const |
| No-Jacobians requested function overload. | |
| AreAllMatrixRefs< Vector, OptionalJacArgs... > | evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const |
| Some (but not all) optional Jacobians are omitted (function overload) and the jacobians are l-value references to matrices. | |
| AreAllMatrixPtrs< Vector, OptionalJacArgs... > | evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const |
| Some (but not all) optional Jacobians are omitted (function overload) and the jacobians are pointers to matrices. | |
| Key | key1 () const |
| Key | key2 () const |
| Key | key3 () const |
| Key | key4 () const |
| Key | key5 () const |
| Key | key6 () const |
| std::shared_ptr< GaussianFactor > | linearize (const Values &values) const override |
| Linearize factors whose error and argument dimensions are all fixed to an arbitrary-arity FixedJacobianFactor. | |
| Vector | unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override |
| This implements the unwhitenedError virtual function by calling the n-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. | |
| 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. | |
| 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. | |
Public Types | |
| typedef VALUE | T |
| typedef ExtendedPriorFactor< VALUE > | This |
| Mean in the tangent space, default nullopt. | |
| Public Types inherited from gtsam::NoiseModelFactorT< Vector, ValueTypes... > | |
| using | ValueType |
| The type of the I'th template param can be obtained as ValueType. | |
| 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 Types | |
| typedef NoiseModelFactorN< VALUE > | Base |
| Protected Types inherited from gtsam::NoiseModelFactorT< Vector, ValueTypes... > | |
| using | Base |
| using | This |
| using | OptionalMatrixTypeT |
| using | KeyType |
| using | MatrixTypeT |
| using | IsConvertible |
| using | IndexIsValid |
| using | ContainerElementType |
| using | IsContainerOfKeys |
| using | AreAllMatrixRefs |
| A helper alias to check if a list of args are all references to a matrix or not. | |
| using | IsMatrixPointer |
| using | IsNullpointer |
| using | AreAllMatrixPtrs |
| A helper alias to check if a list of args are all pointers to a matrix or not. | |
| 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 Attributes | |
| VALUE | origin_ |
| std::optional< Vector > | mean_ |
| The point in manifold at which tangent space is rooted. | |
| Protected Attributes inherited from gtsam::NoiseModelFactor | |
| SharedNoiseModel | noiseModel_ |
| Protected Attributes inherited from gtsam::Factor | |
| KeyVector | keys_ |
| The keys involved in this factor. | |
Additional Inherited Members | |
| Static Public Attributes inherited from gtsam::NoiseModelFactorT< Vector, ValueTypes... > | |
| static constexpr auto | N |
| N is the number of variables (N-way factor). | |
| 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. | |
| 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. | |
Member Typedef Documentation
◆ This
template<class VALUE>
| typedef ExtendedPriorFactor<VALUE> gtsam::ExtendedPriorFactor< VALUE >::This |
Mean in the tangent space, default nullopt.
concept check by type Typedef to this class
Member Function Documentation
◆ clone()
template<class VALUE>
|
inlineoverridevirtual |
- Returns
- a deep copy of this factor
Reimplemented from gtsam::NonlinearFactor.
Reimplemented in gtsam::PriorFactor< VALUE >, gtsam::PriorFactor< Cal3_S2 >, gtsam::PriorFactor< Cal3DS2 >, gtsam::PriorFactor< CalibratedCamera >, gtsam::PriorFactor< PinholeCameraCal3_S2 >, gtsam::PriorFactor< Point2 >, gtsam::PriorFactor< Point3 >, gtsam::PriorFactor< Pose2 >, gtsam::PriorFactor< Pose3 >, gtsam::PriorFactor< Rot2 >, gtsam::PriorFactor< Rot3 >, gtsam::PriorFactor< SL4 >, gtsam::PriorFactor< StereoCamera >, and gtsam::PriorFactor< StereoPoint2 >.
◆ equals()
template<class VALUE>
|
inlineoverridevirtual |
equals
Reimplemented from gtsam::NonlinearFactor.
Reimplemented in gtsam::PriorFactor< VALUE >, gtsam::PriorFactor< Cal3_S2 >, gtsam::PriorFactor< Cal3DS2 >, gtsam::PriorFactor< CalibratedCamera >, gtsam::PriorFactor< PinholeCameraCal3_S2 >, gtsam::PriorFactor< Point2 >, gtsam::PriorFactor< Point3 >, gtsam::PriorFactor< Pose2 >, gtsam::PriorFactor< Pose3 >, gtsam::PriorFactor< Rot2 >, gtsam::PriorFactor< Rot3 >, gtsam::PriorFactor< SL4 >, gtsam::PriorFactor< StereoCamera >, and gtsam::PriorFactor< StereoPoint2 >.
◆ print()
template<class VALUE>
|
inlineoverridevirtual |
Reimplemented from gtsam::Factor.
Reimplemented in gtsam::PriorFactor< VALUE >, gtsam::PriorFactor< Cal3_S2 >, gtsam::PriorFactor< Cal3DS2 >, gtsam::PriorFactor< CalibratedCamera >, gtsam::PriorFactor< PinholeCameraCal3_S2 >, gtsam::PriorFactor< Point2 >, gtsam::PriorFactor< Point3 >, gtsam::PriorFactor< Pose2 >, gtsam::PriorFactor< Pose3 >, gtsam::PriorFactor< Rot2 >, gtsam::PriorFactor< Rot3 >, gtsam::PriorFactor< SL4 >, gtsam::PriorFactor< StereoCamera >, and gtsam::PriorFactor< StereoPoint2 >.
The documentation for this class was generated from the following file:
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/nonlinear/ExtendedPriorFactor.h
