Inheritance diagram for gtsam::AntiFactor:

Public Member Functions
	AntiFactor ()
	default constructor - only use for serialization

	AntiFactor (NonlinearFactor::shared_ptr factor)
	constructor - Creates the equivalent AntiFactor from an existing factor

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

virtual void	print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	implement functions needed for Testable More...

virtual bool	equals (const NonlinearFactor &expected, double tol=1e-9) const
	equals

double	error (const Values &c) const
	implement functions needed to derive from Factor More...

size_t	dim () const
	get the dimension of the factor (same as the original factor)

bool	active (const Values &c) const
	Checks whether this factor should be used based on a set of values. More...

boost::shared_ptr< GaussianFactor >	linearize (const Values &c) const
	Linearize to a GaussianFactor. More...

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.

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

Public Types
typedef boost::shared_ptr< AntiFactor >	shared_ptr

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.

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

Additional Inherited Members
Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

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::Factor
KeyVector	keys_
	The keys involved in this factor.

Member Function Documentation

◆ active()

bool gtsam::AntiFactor::active ( const Values & c ) const

inlinevirtual

Checks whether this factor should be used based on a set of values.

The AntiFactor will have the same 'active' profile as the original factor.

Reimplemented from gtsam::NonlinearFactor.

◆ clone()

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

inlinevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ error()

double gtsam::AntiFactor::error ( const Values & c ) const

inlinevirtual

implement functions needed to derive from Factor

Calculate the error of the factor For the AntiFactor, this will have the same magnitude of the original factor, but the opposite sign.

Implements gtsam::NonlinearFactor.

◆ linearize()

boost::shared_ptr<GaussianFactor> gtsam::AntiFactor::linearize ( const Values & c ) const

inlinevirtual

Linearize to a GaussianFactor.

The AntiFactor always returns a Hessian Factor with the same Hessian matrices as the original factor (even if the original factor returns a Jacobian instead of a full Hessian), but with the opposite sign. This effectively cancels the effect of the original factor on the factor graph.

Implements gtsam::NonlinearFactor.

◆ print()

virtual void gtsam::AntiFactor::print	(	const std::string &	s,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlinevirtual

implement functions needed for Testable

print

Reimplemented from gtsam::NonlinearFactor.

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

/Users/dellaert/git/gtsam/gtsam/slam/AntiFactor.h

Public Member Functions

Public Types

Friends

Additional Inherited Members

Member Function Documentation

◆ active()

◆ clone()

◆ error()

◆ linearize()

◆ print()