gtsam  4.0.0
gtsam
gtsam::ExpressionFactor< T > Class Template Reference

Detailed Description

template<typename T>
class gtsam::ExpressionFactor< T >

Factor that supports arbitrary expressions via AD.

+ Inheritance diagram for gtsam::ExpressionFactor< T >:

Public Member Functions

 ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement, const Expression< T > &expression)
 Constructor: creates a factor from a measurement and measurement function. More...
 
virtual ~ExpressionFactor ()
 Destructor.
 
const T & measured () const
 return the measurement
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 print relies on Testable traits being defined for T
 
bool equals (const NonlinearFactor &f, double tol) const
 equals relies on Testable traits being defined for T
 
virtual Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
 Error function without the NoiseModel, \( z-h(x) -> Local(h(x),z) \). More...
 
virtual boost::shared_ptr< GaussianFactorlinearize (const Values &x) const
 linearize to a GaussianFactor
 
virtual gtsam::NonlinearFactor::shared_ptr clone () const
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
 NoiseModelFactor ()
 Default constructor for I/O only.
 
virtual ~NoiseModelFactor ()
 Destructor.
 
template<typename CONTAINER >
 NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
 Constructor.
 
virtual size_t dim () const
 get the dimension of the factor (number of rows on linearization)
 
const SharedNoiseModelnoiseModel () const
 access to the noise model
 
Vector whitenedError (const Values &c) const
 Vector of errors, whitened This is the raw error, i.e., i.e. More...
 
virtual double error (const Values &c) const
 Calculate the error of the factor. More...
 
boost::shared_ptr< GaussianFactorlinearize (const Values &x) const
 Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \).
 
- 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...
 
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.
 
shared_ptr rekey (const KeyVector &new_keys) const
 Clones a factor and fully replaces its keys. More...
 
- Public Member Functions inherited from gtsam::Factor
KeyVectorkeys ()
 
iterator begin ()
 Iterator at beginning of involved variable keys.
 
iterator end ()
 Iterator at end of involved variable keys.
 
void print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print
 
void printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print only keys
 
Key front () const
 First key.
 
Key back () const
 Last key.
 
const_iterator find (Key key) const
 find
 
const KeyVectorkeys () 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 boost::shared_ptr< ExpressionFactor< T > > shared_ptr
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< Thisshared_ptr
 Noise model.
 
- Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< Thisshared_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 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
 

Protected Member Functions

 ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement)
 Default constructor, for serialization. More...
 
void initialize (const Expression< T > &expression)
 Initialize with constructor arguments.
 
virtual Expression< T > expression () const
 Recreate expression from keys_ and measured_, used in load below. More...
 
- Protected Member Functions inherited from gtsam::NoiseModelFactor
 NoiseModelFactor (const SharedNoiseModel &noiseModel)
 Constructor - only for subclasses, as this does not set keys.
 
- 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
 

Protected Attributes

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

static const int Dim = traits<T>::dimension
 

Friends

class boost::serialization::access
 

Additional Inherited Members

- 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

◆ ExpressionFactor() [1/2]

template<typename T>
gtsam::ExpressionFactor< T >::ExpressionFactor ( const SharedNoiseModel noiseModel,
const T &  measurement,
const Expression< T > &  expression 
)
inline

Constructor: creates a factor from a measurement and measurement function.

Parameters
noiseModelthe noise model associated with a measurement
measurementactual value of the measurement, of type T
expressionpredicts the measurement from Values The keys associated with the factor, returned by keys(), are sorted.

◆ ExpressionFactor() [2/2]

template<typename T>
gtsam::ExpressionFactor< T >::ExpressionFactor ( const SharedNoiseModel noiseModel,
const T &  measurement 
)
inlineprotected

Default constructor, for serialization.

Constructor for serializable derived classes

Member Function Documentation

◆ clone()

template<typename T>
virtual gtsam::NonlinearFactor::shared_ptr gtsam::ExpressionFactor< T >::clone ( ) const
inlinevirtual

◆ expression()

template<typename T>
virtual Expression<T> gtsam::ExpressionFactor< T >::expression ( ) const
inlineprotectedvirtual

Recreate expression from keys_ and measured_, used in load below.

Needed to deserialize a derived factor

◆ unwhitenedError()

template<typename T>
virtual Vector gtsam::ExpressionFactor< T >::unwhitenedError ( const Values x,
boost::optional< std::vector< Matrix > & >  H = boost::none 
) const
inlinevirtual

Error function without the NoiseModel, \( z-h(x) -> Local(h(x),z) \).

We override this method to provide both the function evaluation and its derivative(s) in H.

Implements gtsam::NoiseModelFactor.


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