Detailed Description

template<class VALUE>
class gtsam::NonlinearEquality1< VALUE >

Simple unary equality constraint - fixes a value for a variable.

Inheritance diagram for gtsam::NonlinearEquality1< VALUE >:

Public Member Functions
	NonlinearEquality1 (const X &value, Key key, double mu=1000.0)
	Constructor. More...

virtual gtsam::NonlinearFactor::shared_ptr	clone () const

Vector	evaluateError (const X &x1, boost::optional< Matrix & > H=boost::none) const
	g(x) with optional derivative

virtual void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	Print.

Public Member Functions inherited from gtsam::NoiseModelFactor1< VALUE >
	NoiseModelFactor1 ()
	Default constructor for I/O only.

Key	key () const

	NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1)
	Constructor. More...

virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
	Calls the 1-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.

virtual	~NoiseModelFactor ()
	Destructor.

template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
	Constructor.

virtual bool	equals (const NonlinearFactor &f, double tol=1e-9) const
	Check if two factors are equal.

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
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

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

KeyVector &	keys ()

iterator	begin ()
	Iterator at beginning of involved variable keys.

iterator	end ()
	Iterator at end of involved variable keys.

Public Types
typedef VALUE	X

typedef boost::shared_ptr< NonlinearEquality1< VALUE > >	shared_ptr
	fixed value for variable

Public Types inherited from gtsam::NoiseModelFactor1< VALUE >
typedef VALUE	X

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
typedef NoiseModelFactor1< VALUE >	Base

typedef NonlinearEquality1< VALUE >	This

Protected Types inherited from gtsam::NoiseModelFactor1< VALUE >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor1< VALUE >	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
	NonlinearEquality1 ()
	default constructor to allow for serialization

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
X	value_

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.

Friends
class	boost::serialization::access
	Serialization function.

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

◆ NonlinearEquality1()

template<class VALUE >

gtsam::NonlinearEquality1< VALUE >::NonlinearEquality1	(	const X &	value,
		Key	key,
		double	mu = `1000.0`
	)

inline

Constructor.

Parameters

value	feasible value that values(key) shouild be equal to
key	the key for the unknown variable to be constrained
mu	a parameter which really turns this into a strong prior

Member Function Documentation

◆ clone()

template<class VALUE >

virtual gtsam::NonlinearFactor::shared_ptr gtsam::NonlinearEquality1< VALUE >::clone ( ) const

inlinevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

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

/Users/dellaert/git/gtsam/gtsam/nonlinear/NonlinearEquality.h

Detailed Description

template<class VALUE> class gtsam::NonlinearEquality1< VALUE >

Public Member Functions

Public Types

Protected Types

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ NonlinearEquality1()

Member Function Documentation

◆ clone()

template<class VALUE>
class gtsam::NonlinearEquality1< VALUE >