gtsam::NoiseModelFactor6< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 > Class Template Referenceabstract
Detailed Description
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5, class VALUE6>
class gtsam::NoiseModelFactor6< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 >
A convenient base class for creating your own NoiseModelFactor with 6 variables.
To derive from this class, implement evaluateError().
Inheritance diagram for gtsam::NoiseModelFactor6< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 >:
Public Member Functions | |
| NoiseModelFactor6 () | |
| Default Constructor for I/O. | |
| NoiseModelFactor6 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5, Key j6) | |
| Constructor. More... | |
| Key | key1 () const |
| methods to retrieve keys | |
| Key | key2 () const |
| Key | key3 () const |
| Key | key4 () const |
| Key | key5 () const |
| Key | key6 () const |
| virtual Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const |
| Calls the 6-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More... | |
| virtual Vector | evaluateError (const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none, boost::optional< Matrix & > H5=boost::none, boost::optional< Matrix & > H6=boost::none) const =0 |
| Override this method to finish implementing a 6-way factor. More... | |
| 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 void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| Print. | |
| 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... | |
| virtual shared_ptr | clone () const |
| Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses. 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 VALUE1 | X1 |
| typedef VALUE2 | X2 |
| typedef VALUE3 | X3 |
| typedef VALUE4 | X4 |
| typedef VALUE5 | X5 |
| typedef VALUE6 | X6 |
| 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 NoiseModelFactor | Base |
| typedef NoiseModelFactor6< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 > | 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 |
Friends | |
| class | boost::serialization::access |
| Serialization function. | |
Additional Inherited Members | |
| 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 | |
| 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::NoiseModelFactor | |
| SharedNoiseModel | noiseModel_ |
| Protected Attributes inherited from gtsam::Factor | |
| KeyVector | keys_ |
| The keys involved in this factor. | |
Constructor & Destructor Documentation
◆ NoiseModelFactor6()
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5, class VALUE6>
|
inline |
Constructor.
- Parameters
-
noiseModel shared pointer to noise model j1 key of the first variable j2 key of the second variable j3 key of the third variable j4 key of the fourth variable j5 key of the fifth variable j6 key of the fifth variable
Member Function Documentation
◆ evaluateError()
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5, class VALUE6>
|
pure virtual |
Override this method to finish implementing a 6-way factor.
If any of the optional Matrix reference arguments are specified, it should compute both the function evaluation and its derivative(s) in X1 (and/or X2, X3).
Implemented in gtsam::CombinedImuFactor.
◆ unwhitenedError()
template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5, class VALUE6>
|
inlinevirtual |
Calls the 6-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class.
Implements gtsam::NoiseModelFactor.
The documentation for this class was generated from the following file:
- /Users/dellaert/git/gtsam/gtsam/nonlinear/NonlinearFactor.h
