gtsam::ExpressionFactor2< T, A1, A2 > Class Template Reference
Detailed Description
template<typename T, typename A1, typename A2>
class gtsam::ExpressionFactor2< T, A1, A2 >
Binary specialization of ExpressionFactor meant as a base class for binary factors.
Enforces an 'expression' method with two keys, and provides 'evaluateError'. Derived class (a binary factor!) needs to call 'initialize'.
Inheritance diagram for gtsam::ExpressionFactor2< T, A1, A2 >:
Public Member Functions | |
| virtual | ~ExpressionFactor2 () |
| Destructor. | |
| Vector | evaluateError (const A1 &a1, const A2 &a2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const |
| Backwards compatible evaluateError, to make existing tests compile. | |
| virtual Expression< T > | expression (Key key1, Key key2) 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. 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< GaussianFactor > | linearize (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 SharedNoiseModel & | noiseModel () 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< GaussianFactor > | linearize (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 | |
| KeyVector & | keys () |
| 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 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 |
Protected Member Functions | |
| ExpressionFactor2 () | |
| Default constructor, for serialization. | |
| ExpressionFactor2 (Key key1, Key key2, 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. More... | |
| 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. | |
| 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 | |
Friends | |
| class | boost::serialization::access |
Additional Inherited Members | |
| Public Types inherited from gtsam::ExpressionFactor< T > | |
| typedef boost::shared_ptr< ExpressionFactor< T > > | shared_ptr |
| Public Types inherited from gtsam::NoiseModelFactor | |
| typedef boost::shared_ptr< This > | shared_ptr |
| Noise model. | |
| Public Types inherited from gtsam::NonlinearFactor | |
| typedef boost::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::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 |
| 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... | |
| 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:
- /Users/dellaert/git/gtsam/gtsam/nonlinear/ExpressionFactor.h
