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gtsam::ShonanFactor< d > Class Template Reference
Detailed Description
template<size_t d>
class gtsam::ShonanFactor< d >
class gtsam::ShonanFactor< d >
ShonanFactor is a BetweenFactor that moves in SO(p), but will land on the SO(d) sub-manifold of SO(p) at the global minimum.
It projects the SO(p) matrices down to a Stiefel manifold of p*d matrices.
Inheritance diagram for gtsam::ShonanFactor< d >:
Public Member Functions | |
Constructor | |
| ShonanFactor (Key j1, Key j2, const Rot &R12, size_t p, const SharedNoiseModel &model=nullptr, const std::shared_ptr< Matrix > &G=nullptr) | |
| Constructor. | |
Testable | |
| void | print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| print with optional string | |
| bool | equals (const NonlinearFactor &expected, double tol=1e-9) const override |
| assert equality up to a tolerance | |
NoiseModelFactorN methods | |
| Vector | evaluateError (const SOn &Q1, const SOn &Q2, OptionalMatrixType H1, OptionalMatrixType H2) const override |
| Error is Frobenius norm between Q1*P*R12 and Q2*P, where P=[I_3x3;0] projects down from SO(p) to the Stiefel manifold of px3 matrices. | |
| 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. | |
| 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. | |
| 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. | |
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). | |
| 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 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 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. | |
Constructor & Destructor Documentation
◆ ShonanFactor()
template<size_t d>
| gtsam::ShonanFactor< d >::ShonanFactor | ( | Key | j1, |
| Key | j2, | ||
| const Rot & | R12, | ||
| size_t | p, | ||
| const SharedNoiseModel & | model = nullptr, | ||
| const std::shared_ptr< Matrix > & | G = nullptr ) |
Constructor.
Note we convert to d*p-dimensional noise model. To save memory and mallocs, pass in the vectorized Lie algebra generators: G = std::make_shared<Matrix>(SOn::VectorizedGenerators(p));
Member Function Documentation
◆ equals()
template<size_t d>
|
overridevirtual |
assert equality up to a tolerance
Reimplemented from gtsam::NoiseModelFactor.
◆ print()
template<size_t d>
|
overridevirtual |
print with optional string
Reimplemented from gtsam::NoiseModelFactor.
The documentation for this class was generated from the following files:
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/sfm/ShonanFactor.h
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/sfm/ShonanFactor.cpp
