Detailed Description
class gtsam::NoiseModelFactorT< OutputVec, ValueTypes >
A convenient base class for creating your own NoiseModelFactor with n variables.
To derive from this class, implement evaluateError().
For example, a 2-way factor that computes the difference in x-translation between a Pose3 and Point3 could be implemented like so:
These factors are templated on a values structure type. The values structures are typically more general than just vectors, e.g., Rot3 or Pose3, which are objects in non-linear manifolds (Lie groups).
NoiseModelFactor methods | |
| 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 | |
| template<int I = 1> | |
| 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; | |
Constructors | |
| NoiseModelFactorT () | |
| Default Constructor for I/O. | |
| NoiseModelFactorT (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys) | |
| Constructor. | |
| template<typename CONTAINER = std::initializer_list<Key>, typename = IsContainerOfKeys<CONTAINER>> | |
| NoiseModelFactorT (const SharedNoiseModel &noiseModel, CONTAINER keys) | |
| Constructor. | |
Virtual methods | |
| virtual OutputVec | 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. | |
Convenience method overloads | |
| Vector | evaluateError (const ValueTypes &... x) const |
| No-Jacobians requested function overload. | |
| template<typename... OptionalJacArgs, typename = IndexIsValid<sizeof...(OptionalJacArgs) + 1>> | |
| 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. | |
| template<typename... OptionalJacArgs, typename = IndexIsValid<sizeof...(OptionalJacArgs) + 1>> | |
| 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. | |
Shortcut functions <tt>key1()</tt> -> <tt>key\<1\>()</tt> | |
| Key | key1 () const |
| template<int I = 2> | |
| Key | key2 () const |
| template<int I = 3> | |
| Key | key3 () const |
| template<int I = 4> | |
| Key | key4 () const |
| template<int I = 5> | |
| Key | key5 () const |
| template<int I = 6> | |
| Key | key6 () const |
| 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 | clone () const |
| Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses. | |
| 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 constexpr auto | N = sizeof...(ValueTypes) |
| N is the number of variables (N-way factor). | |
Public Types | |
| template<int I, typename = IndexIsValid<I>> | |
| 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 | |
| using | Base = NoiseModelFactor |
| using | This = NoiseModelFactorT<OutputVec, ValueTypes...> |
| template<typename T = void> | |
| using | OptionalMatrixTypeT = Matrix* |
| template<typename T> | |
| using | KeyType = Key |
| template<typename T = void> | |
| using | MatrixTypeT = Matrix |
SFINAE aliases | |
| template<typename From, typename To> | |
| using | IsConvertible |
| template<int I> | |
| using | IndexIsValid |
| template<typename Container> | |
| using | ContainerElementType |
| template<typename Container> | |
| using | IsContainerOfKeys = IsConvertible<ContainerElementType<Container>, Key> |
| template<typename Ret, typename... Args> | |
| using | AreAllMatrixRefs |
| A helper alias to check if a list of args are all references to a matrix or not. | |
| template<typename Arg> | |
| using | IsMatrixPointer = std::is_same<typename std::decay_t<Arg>, Matrix*> |
| template<typename Arg> | |
| using | IsNullpointer |
| template<typename Ret, typename... Args> | |
| 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 |
Additional Inherited Members | |
| 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. | |
| Protected Attributes inherited from gtsam::NoiseModelFactor | |
| SharedNoiseModel | noiseModel_ |
| Protected Attributes inherited from gtsam::Factor | |
| KeyVector | keys_ |
| The keys involved in this factor. | |
Member Typedef Documentation
◆ AreAllMatrixPtrs
|
protected |
A helper alias to check if a list of args are all pointers to a matrix or not.
It will be used to choose the right overload of evaluateError.
◆ AreAllMatrixRefs
|
protected |
A helper alias to check if a list of args are all references to a matrix or not.
It will be used to choose the right overload of evaluateError.
◆ ContainerElementType
|
protected |
◆ IndexIsValid
|
protected |
◆ IsConvertible
|
protected |
◆ IsNullpointer
|
protected |
◆ ValueType
| using gtsam::NoiseModelFactorT< OutputVec, ValueTypes >::ValueType |
The type of the I'th template param can be obtained as ValueType.
I is 1-indexed for backwards compatibility/consistency! So for example,
You can also use the shortcuts X1, ..., X6 which are the same as ValueType<1>, ..., ValueType<6> respectively (see detail::NoiseModelFactorAliases).
Note that, if your class is templated AND you want to use ValueType<1> inside your class, due to dependent types you need the template keyword: typename MyFactor<T>::template ValueType<1>.
Constructor & Destructor Documentation
◆ NoiseModelFactorT() [1/2]
|
inline |
Constructor.
Example usage: NoiseModelFactorT(noise, key1, key2, ..., keyN)
- Parameters
-
noiseModel Shared pointer to noise model. keys Keys for the variables in this factor, passed in as separate arguments.
◆ NoiseModelFactorT() [2/2]
|
inline |
Constructor.
Example usage: NoiseModelFactorT(noise, {key1, key2, ..., keyN}) Example usage: NoiseModelFactorT(noise, keys) where keys is a vector<Key>
- Parameters
-
noiseModel Shared pointer to noise model. keys A container of keys for the variables in this factor.
Member Function Documentation
◆ evaluateError() [1/5]
|
inline |
No-Jacobians requested function overload.
This specializes the version below to avoid recursive calls since this is commonly used.
e.g. const Vector error = factor.evaluateError(pose, point);
◆ evaluateError() [2/5]
|
inline |
If all the optional arguments are matrices then redirect the call to the one which takes pointers.
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 NoiseModelFactorT<list the value types here>::evaluateError;
◆ evaluateError() [3/5]
|
inline |
Some (but not all) optional Jacobians are omitted (function overload) and the jacobians are pointers to matrices.
e.g. const Vector error = factor.evaluateError(pose, point, &Hpose);
◆ evaluateError() [4/5]
|
inline |
Some (but not all) optional Jacobians are omitted (function overload) and the jacobians are l-value references to matrices.
e.g. const Vector error = factor.evaluateError(pose, point, Hpose);
◆ evaluateError() [5/5]
|
pure virtual |
Override evaluateError to finish implementing an n-way factor.
Both the x and H arguments are written here as parameter packs, but when overriding this method, you probably want to explicitly write them out. For example, for a 2-way factor with variable types Pose3 and Point3, you should implement:
If any of the optional Matrix reference arguments are specified, it should compute both the function evaluation and its derivative(s) in the requested variables.
- Parameters
-
x The values of the variables to evaluate the error for. Passed in as separate arguments. [out] H The Jacobian with respect to each variable (optional).
Implemented in gtsam::AHRSFactorT< PIM >, gtsam::AHRSFactorT< PreintegratedAhrsMeasurements >, gtsam::AttitudeFactor< VALUE >, gtsam::BarometricFactor, gtsam::BetweenFactor< VALUE >, gtsam::BetweenFactor< double >, gtsam::BetweenFactor< Point2 >, gtsam::BetweenFactor< Point3 >, gtsam::BetweenFactor< Pose2 >, gtsam::BetweenFactor< Pose3 >, gtsam::BetweenFactor< Rot2 >, gtsam::BetweenFactor< Rot3 >, gtsam::BetweenFactor< SL4 >, gtsam::BiasedGPSFactor, gtsam::BilinearAngleTranslationFactor, gtsam::CarrierPhaseFactor, gtsam::CarrierPhaseFactorArm, gtsam::CombinedImuFactorT< PIM >, gtsam::CombinedImuFactorT< PreintegratedCombinedMeasurementsG >, gtsam::CombinedImuFactorWithGravityT< PIM, GRAVITY >, gtsam::CombinedImuFactorWithGravityT< PreintegratedCombinedMeasurements, Point3 >, gtsam::CombinedImuFactorWithGravityT< PreintegratedCombinedMeasurements, Unit3 >, gtsam::ConstantVelocityFactor, gtsam::DeltaFactor, gtsam::DifferentialPseudorangeFactor, gtsam::DifferentialPseudorangeFactorArm, gtsam::DopplerFactor, gtsam::DoubleDifferenceCarrierPhaseFactor, gtsam::DoubleDifferenceCarrierPhaseFactorArm, gtsam::EssentialMatrixConstraint, gtsam::EssentialMatrixFactor2, gtsam::EssentialMatrixFactor4< CALIBRATION >, gtsam::EssentialMatrixFactor5< CALIBRATION >, gtsam::FrobeniusBetweenFactor< T >, gtsam::FunctorizedFactor< double, BASIS::Parameters >, gtsam::FunctorizedFactor< double, Matrix >, gtsam::FunctorizedFactor< double, typename BASIS::Parameters >, gtsam::FunctorizedFactor< double, Vector >, gtsam::FunctorizedFactor< T, Matrix >, gtsam::FunctorizedFactor< Vector, Matrix >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::GeneralSFMFactor< gtsam::PinholeCameraCal3_S2, gtsam::Point3 >, gtsam::GeneralSFMFactor< gtsam::PinholeCameraCal3DS2, gtsam::Point3 >, gtsam::GeneralSFMFactor< gtsam::SphericalCamera, gtsam::Point3 >, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::GenericProjectionFactor< Pose3, Point3, Cal3_S2 >, gtsam::GenericProjectionFactor< Pose3, Point3, Cal3DS2 >, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::GenericStereoFactor< gtsam::Pose3, gtsam::Point3 >, gtsam::GPSFactor2ArmCalib, gtsam::GPSFactorArmCalib, gtsam::ImuFactor2T< PIM >, gtsam::ImuFactor2T< PIM >, gtsam::ImuFactor2T< PreintegratedImuMeasurementsG >, gtsam::ImuFactor2WithGravityT< PIM, GRAVITY >, gtsam::ImuFactor2WithGravityT< PIM, GRAVITY >, gtsam::ImuFactor2WithGravityT< PreintegratedImuMeasurements, Point3 >, gtsam::ImuFactor2WithGravityT< PreintegratedImuMeasurements, Unit3 >, gtsam::ImuFactorT< PIM >, gtsam::ImuFactorT< PIM >, gtsam::ImuFactorT< PreintegratedImuMeasurementsG >, gtsam::ImuFactorWithGravityT< PIM, GRAVITY >, gtsam::ImuFactorWithGravityT< PreintegratedImuMeasurements, Point3 >, gtsam::ImuFactorWithGravityT< PreintegratedImuMeasurements, Unit3 >, gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >, gtsam::InvDepthFactorVariant1, gtsam::InvDepthFactorVariant2, gtsam::LocalOrientedPlane3Factor, gtsam::MagFactor2, gtsam::MagFactor3, gtsam::NavStatePointContactFactor, gtsam::OrientedPlane3Factor, gtsam::PlanarGyroFactor, gtsam::PlanarProjectionFactor2, gtsam::PlanarProjectionFactor3, gtsam::Pose3PointContactFactor, gtsam::PoseBetweenFactor< POSE >, gtsam::PoseToPointFactor< POSE, POINT >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorRollingShutter, gtsam::PseudorangeFactor, gtsam::PseudorangeFactorArm, gtsam::QuadraticRangeFactor< 2 >, gtsam::QuadraticRangeFactor< 3 >, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::RelativeElevationFactor, gtsam::RelativeTranslationFactor< 2 >, gtsam::RelativeTranslationFactor< 3 >, and gtsam::TranslationFactor.
◆ key()
|
inline |
Returns a key.
Usage: key<I>() returns the I'th key. I is 1-indexed for backwards compatibility/consistency! So for example,
Note that, if your class is templated AND you are trying to call key<1> inside your class, due to dependent types you need the template keyword: this->key1().
◆ linearize()
|
inlineoverridevirtual |
Linearize factors whose error and argument dimensions are all fixed to an arbitrary-arity FixedJacobianFactor.
Dynamic dimensions retain the generic implementation.
Reimplemented from gtsam::NoiseModelFactor.
Reimplemented in gtsam::TriangulationFactor< CAMERA >.
◆ unwhitenedError()
|
inlineoverridevirtual |
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.
Example usage:
- Parameters
-
[in] x A Values object containing the values of all the variables used in this factor [out] H A vector of (dynamic) matrices whose size should be equal to n. The Jacobians w.r.t. each variable will be output in this parameter.
Implements gtsam::NoiseModelFactor.
The documentation for this class was generated from the following file:
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/nonlinear/NoiseModelFactorN.h
